A method for determining a luggage storage location, an electronic device, and a storage medium

Abstract

The application provides a luggage storage position determination method, electronic equipment and a storage medium, and relates to the technical field of luggage storage position determination. The method comprises the following steps: acquiring a three-dimensional coordinate system QR corresponding to a current luggage cart, a to-be-stored luggage surrounding box W corresponding to to-be-stored luggage, and the length L of the luggage cart in the Y-axis direction in the QR Y , the width D in the X-axis direction X , and the height H in the Z-axis direction Z ; then, the space in the Y-axis direction of the current luggage cart is traversed according to the size of the W along the Y-axis direction at a step length ΔL Y ; if the W does not coincide with all three-dimensional luggage grids and the W meets all preset storage conditions, the current position of the W is determined as the storage position corresponding to the to-be-stored luggage. The application can achieve the purpose of determining the storage position corresponding to the W.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of luggage storage position determination, and in particular to a luggage storage position determination method, an electronic device and a storage medium. BACKGROUND

[0002] In the field of civil aviation, luggage handling is a major challenge for the modern aviation industry. Due to the increasing passenger flow at airports, the number of passenger luggage is also increasing. For luggage handling, in order to improve the efficiency of luggage handling, some airports use automated luggage handling equipment to transfer luggage from the conveyor belt to the luggage cart, and then transport it to the corresponding aircraft for loading and delivery. Usually, the luggage handling equipment will sequentially store the luggage according to the pre-divided area. However, different luggage has different sizes, and if it is sequentially stored according to the fixed divided area, it will result in low space utilization of the luggage cart. SUMMARY

[0003] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0004] According to a first aspect of the present application, a luggage storage position determination method is provided, which comprises the following steps:

[0005] S100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart, a to-be-stored luggage bounding box W corresponding to the to-be-stored luggage, 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 QR comprises a plurality of three-dimensional luggage grids corresponding to the stored luggage, and each three-dimensional luggage grid corresponds to position coordinates and size information.

[0006] S200, obtaining a first preset value NUM1=0, and placing W at the origin position corresponding to W in QR.

[0007] S300, if NUM1×ΔL Y <L Y -L W , then enter S400; wherein L W is the length of W in the Y-axis direction; and ΔL Y is a first preset distance.

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

[0009] S500, if W coincides with at least one of the plurality of three-dimensional luggage grids or W does not satisfy at least one of all the preset stacking conditions, moving W along the Y-axis direction by ΔL Y , updating NUM1=NUM1+1, entering S300; otherwise, determining 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, a non-transitory computer readable storage medium is also provided, the storage medium storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by a processor to implement the above-mentioned method for determining a luggage stacking position.

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

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

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

[0014] Further, when determining the stacking position corresponding to the luggage to be stacked, the remaining stacking space of the current luggage cart and the size of the luggage to be stacked are used as the basis, 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 that the luggage to be stacked coincides with the three-dimensional grid, the stacking position corresponding to the luggage to be stacked closely fits the already-stacked luggage, thereby improving the utilization rate of the space of the luggage cart. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort based on these drawings.

[0016] Figure 1 A flowchart of a method for determining a luggage storage position is provided. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the present application.

[0018] It should be noted that, based on the present disclosure, a person 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, an apparatus and / or a method can be implemented using any number of the aspects set forth herein. In addition, this apparatus and / or method can be implemented using other structures and / or functionality in addition to or other than one or more of the aspects set forth herein.

[0019] Embodiment one:

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the present application. Figure 1 A method for determining a luggage storage position will be introduced with reference to the flowchart of the method for determining a luggage storage position shown in

[0021] The method for determining a luggage storage position can include the following steps:

[0022] S100, obtaining a three-dimensional coordinate system QR corresponding to a current luggage cart, a to-be-stored luggage surrounding box W corresponding to to-be-stored luggage, and a length L of the luggage cart in the Y-axis direction of QR, a width D in the X-axis direction, and a height H in the Z-axis direction; wherein QR includes a plurality of three-dimensional luggage grids corresponding to stored luggage, and each three-dimensional luggage grid corresponds to position coordinates and size information. Y X Z

[0023] In the present embodiment, before determining the storage position of the to-be-stored luggage, the stored luggage on the current luggage cart needs to be identified; the stored luggage can be identified by an image recognition method or a laser radar scanning method, and after the stored luggage is identified, the stored luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stored luggage. It can be understood that each three-dimensional luggage surrounding box represents corresponding spatial stored luggage.

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

[0025] Further, the luggage to be stacked is taken by a preset mechanical arm. When the luggage to be stacked is placed, the orientation of the mechanical arm is perpendicular to the side wall of the Y-axis direction of the QR.

[0026] Based on the above setting of the orientation of the mechanical arm, in the subsequent process of determining the stacking position, first, traversal is performed along the direction of the Y-axis to realize convenient stacking of the luggage and to avoid collision with the stacked luggage.

[0027] S200, a first preset value NUM1=0 is obtained, and W is placed at the origin position corresponding to W in the QR.

[0028] In the embodiment, since the position determination of the luggage to be stacked is based on the stack shape of the stacked luggage of the current luggage cart, after each luggage to be stacked is stacked, the three-dimensional coordinate system corresponding to the current luggage cart needs to be reacquired. Then, W is placed at the origin position corresponding to W in the QR, so as to determine the optimal stacking position suitable for the current luggage to be stacked based on the stack shape corresponding to the current luggage cart.

[0029] Further, the origin position corresponding to W in the QR is QR W =(W X , W Y , W Z ); wherein W X is the X-axis coordinate of the origin position corresponding to W in the QR, W Y is the Y-axis coordinate of the origin position corresponding to W in the QR, and W Z is the Z-axis coordinate of the origin position corresponding to W in the 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, and H W is the height of W in the Z-axis direction.

[0030] In the embodiment, when W is placed at the origin position corresponding to W in the QR QR W , the center point of W coincides with QR W . It can be understood that the size of W is different, and the corresponding origin position corresponding to W in the QR QR WAlso different, W is in the origin position, W a vertex coincides with the coordinate system origin of QR, thus, can make W from the current luggage car a bottom vertex begins to traverse.

[0031] S300, if NUM1 x AL Y <L Y -L W , enter S400; wherein, L W For W in the Y axis direction length; AL Y For the first preset distance.

[0032] Further, if NUM1 x AL Y ≥L Y -L W , get the second preset value NUM2 = 0 and the third preset value NUM3 = 0, enter S600.

[0033] S600, if NUM2 x AH Z <H Z -H W , enter S610; otherwise, enter S620; wherein, AH Z For the second preset distance.

[0034] S610, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the intermediate position QE W =(W X +NUM3 x AD X , W Y , W Z +NUM2 x AH Z ) enter S300.

[0035] S620, if NUM3 x AD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the intermediate position QE W =(W X +NUM3 x AD X , W Y , W Z +NUM2 x AH Z ) enter S300; otherwise, determine the corresponding code storage position of the luggage to be stored; wherein, AD X For the third preset distance.

[0036] Further, can set AL Y = AH Z = AD X= 20mm; under this parameter setting, the luggage can be packed more closely under the premise of high traversal efficiency, thereby improving the space utilization of the luggage cart.

[0037] In this embodiment, the traversal order is first along the Y-axis direction, and if the traversal along the Y-axis direction is completed, the Z-axis coordinate is increased by AH Z , and then the traversal along the Y-axis is continued, if the Z-axis NUM2*AH Z ≥ H Z -H W , it indicates that the traversal along the Z-axis direction is also completed, at this time, the X-axis coordinate needs to be changed, and the traversal along the Y-axis direction is continued; that is, first along the Y-axis direction, then along the Z-axis direction, and finally along the X-axis direction; it can be understood as three-layer loop to realize the traversal of the entire current luggage cart space; the traversal effect of this kind of way is as follows:

[0038] Through the above traversal method, when packing the luggage, the luggage to be packed is first packed close to the far side of the current luggage cart, showing a valley-shaped heap with large lower and small upper, so that the mechanical hand does not collide with the packed luggage when packing the luggage, avoiding the damage of the luggage.

[0039] S400, determining whether W coincides with at least one of the plurality of three-dimensional luggage grids and whether W satisfies all preset packing conditions.

[0040] In this embodiment, W at any position needs to be determined whether W will collide with other packed luggage at this position and whether all other preset packing conditions are met; it can be understood that if W coincides with at least one of the plurality of three-dimensional luggage grids, it indicates that W will collide with the packed luggage at this position.

[0041] Further, determining whether W coincides with at least one of the plurality of three-dimensional luggage grids can include the following steps:

[0042] 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 luggage grid in QR to obtain a three-dimensional luggage grid minimum and maximum coordinate list set A = (A1, A2, …, An), i = 1, 2, …, n; wherein, Ai is the minimum and maximum coordinate list of the ith three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; Ai = (Ai_min, Ai_max, Ai_min, Ai_max, Ai_min, Ai_max), i = 1, 2, …, n. i n i i i，X i，X 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.

[0043] In this embodiment, each 3D luggage grid in the QR has corresponding coordinates of each vertex, and the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each 3D luggage grid in the QR can be obtained.

[0044] S420, obtain 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 .

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

[0046] S430, traverse A, if A i The X-axis coordinate interval [A i，X _min, A i，X _max] and the X-axis coordinate range 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，Zthe Z-axis coordinate interval of W overlaps with the Z-axis coordinate interval of W, it is determined that W overlaps with at least one of the plurality of three-dimensional luggage grids. min，Z , W max，Z ] overlap, it is determined that W overlaps with at least one of the plurality of three-dimensional luggage grids.

[0047] In this embodiment, whether W collides with the luggage already stored when W is at a certain position in the QR is determined through the above steps. If W does not collide with the luggage already stored when W is at a certain position in the QR, it is further determined whether W meets all preset storage conditions when W is at the position. The preset storage conditions are set according to relevant regulations of civil aviation, for example, the luggage with a small volume is located above the luggage with a large volume, and the current luggage to be stored does not exist a throw situation.

[0048] S500, if W overlaps with at least one of the plurality of three-dimensional luggage grids or W does not meet at least one of all preset storage conditions, W is moved along the Y-axis direction by ΔL Y , NUM1=NUM1+1 is updated, and S300 is entered; otherwise, the position currently occupied by W is determined as the storage position corresponding to the luggage to be stored.

[0049] In this embodiment, due to the setting of the preset storage conditions, the storage position corresponding to the luggage to be stored may not be determined after all positions in the QR are traversed. In order to store the luggage to be stored in the luggage cart, a second traversal is required.

[0050] Further, the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimization storage conditions; wherein the execution state of the necessary storage condition is open, and the execution state of the optimization storage condition includes open and close.

[0051] In this embodiment, it can be understood that the necessary storage condition is a storage condition set according to relevant regulations of civil aviation, for example, the luggage with a small volume is located above the luggage with a large volume, and the current luggage to be stored does not exist a throw situation. The optimization storage condition is an optimization storage condition set in order to improve the space utilization of the luggage cart or to make the luggage stored neatly. The execution state of the optimization storage condition can be set to open or close. When the execution state of the optimization storage condition is open, the optimization storage condition needs to be met, otherwise, the optimization storage condition does not need to be met.

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

[0053] S700, if the storage position corresponding to the luggage to be stored is not determined, the execution state of all optimization storage conditions in the preset storage conditions is set to close, and S200 is entered.

[0054] In this embodiment, after traversing all positions in the QR, if the corresponding storage position of the luggage to be stored is not determined, the execution state of all optimized storage conditions in the preset storage condition is set to off; then S200 is entered, and each position in the QR is traversed again to determine the corresponding storage position of the luggage to be stored.

[0055] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart, the luggage-to-be-stored bounding box W corresponding to the luggage to be stored, and the length L of the luggage cart in the Y-axis direction in the QR are obtained Y , the width D in the X-axis direction X , and the height H in the Z-axis direction Z Then, according to the size of W along the Y-axis direction, the space in the Y-axis direction of the current luggage cart is traversed with a step size ΔL Y If W does not coincide with all three-dimensional luggage grids and W satisfies all preset storage conditions, the current position of W is determined as the corresponding storage position of the luggage to be stored; the traversal is sequentially performed along the Y-axis, Z-axis and X-axis directions, thereby achieving the purpose of determining the corresponding storage position of W.

[0056] Further, when determining the corresponding storage position of the luggage to be stored, the remaining storage space of the current luggage cart and the size of the luggage to be stored are used as the basis, so that the determined storage position of the luggage to be stored is the best storage position for the current luggage cart; because the judgment condition that the luggage to be stored coincides with the three-dimensional grid is set, the corresponding storage position of the luggage to be stored closely fits the already stored luggage, thereby improving the utilization rate of the luggage cart space.

[0057] Embodiment Two

[0058] Based on the method in Embodiment One, if the corresponding storage position of the luggage to be stored cannot be determined, the corresponding storage position of the luggage to be stored can be further determined by the method in this embodiment, which can include the following steps:

[0059] Q100, obtaining the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage-to-be-stored bounding box W corresponding to the luggage to be stored; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the already stored luggage.

[0060] In this embodiment, before determining the storage position of the luggage to be stored, the already stored luggage on the current luggage cart needs to be identified; the already stored luggage can be identified by an image recognition method or a laser radar scanning method, and after the already stored luggage is identified, the already stored luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point cloud corresponding to the already stored luggage; it can be understood that each three-dimensional luggage bounding box represents the corresponding space already stored luggage.

[0061] For the luggage to be stacked, the size information of the surrounding box 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 current luggage cart space.

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

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

[0064] Q400, W meets all the preset stacking conditions, the target to be confirmed point is confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, the next to be confirmed point is traversed; wherein the preset stacking conditions include a plurality of necessary stacking conditions and a plurality of optimized stacking conditions.

[0065] In this embodiment, the method in steps S200-S620 of embodiment one can be used to traverse each preset to be confirmed point in QR in turn, which is not described here; the preset to be confirmed point can be the coordinate point corresponding to the center point of W each time W moves in embodiment one.

[0066] Q500, if all the preset to be confirmed points are traversed and the stacking position corresponding to the luggage to be stacked is not determined, Q600 is entered.

[0067] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, the stacking position corresponding to the luggage to be stacked may not be determined; however, there is still stacking space in the luggage cart at this time. In order to be able to stack the luggage to be stacked in the luggage cart, secondary traversal is required.

[0068] Q600, according to the preset stacking condition degradation rule, the plurality of optimized stacking conditions are degraded, and Q200 is entered.

[0069] Further, the execution state of the necessary stacking condition is open, and the execution state of the optimized stacking condition includes open and close.

[0070] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to relevant civil aviation regulations, for example: small luggage is placed on top of large luggage, and the currently stacked luggage will not be thrown; and the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to ensure that the luggage is 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 met; otherwise, the optimized stacking conditions do not need to be met.

[0071] Step Q600 includes the following steps:

[0072] Q610: Set the execution status of all optimized stacking conditions in the preset stacking conditions to off and enter Q200.

[0073] In this embodiment, after traversing all positions in the QR, if the stacking position corresponding to the luggage to be stacked is not determined, the execution status of all optimized stacking conditions in the preset stacking conditions is set to off; then the process proceeds to S200, and each position in the QR is traversed again to determine the stacking position corresponding to the luggage to be stacked.

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

[0075] Q620, obtain each optimized stacking condition to obtain an optimized stacking condition list B = (B1, B2, ..., 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.

[0076] Q630, based on B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j ,…,YB m ); among them, YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement.

[0077] Q640, obtain a fourth preset value NM=m.

[0078] Q650, if NM>0 and the stacking location of the baggage to be stacked cannot be determined, then B in B NM The execution status is set to closed; update NM=NM-1; enter Q200.

[0079] In the embodiment, the priority of any necessary stowing condition is greater than the priority of any optimization stowing condition, that is, the necessary stowing condition is executed before the optimization stowing condition; and the optimization stowing condition is also provided with the priority of execution, and the optimization stowing condition with greater priority is executed before the optimization stowing condition with smaller priority.

[0080] It can be understood that after the first traversal, there are many reasons for failing to determine the stowing position of the luggage to be stowed, some positions may not satisfy the necessary stowing condition, and some positions may not satisfy the optimization stowing condition; and among the optimization stowing conditions that do not satisfy the optimization stowing condition, some do not satisfy the optimization stowing condition with higher priority, and some do not satisfy the optimization stowing condition with lower priority. Therefore, in the embodiment, the optimization stowing condition with the smallest priority is first closed, and then Q200 is entered to re-traverse each position in QR. If the stowing position corresponding to the luggage to be stowed is still not determined, the optimization stowing condition with the next priority is closed, and the stowing position corresponding to the luggage to be stowed is determined.

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

[0082] Q660, if NM≤0 or the stowing position corresponding to the luggage to be stowed is determined, the current processing is exited.

[0083] In the embodiment, if NM≤0, it indicates that all the optimization stowing conditions have been closed, and the current processing is exited.

[0084] Further, in Q650, after each optimization stowing condition is closed, it is judged whether the closed optimization stowing condition is executed in the first traversal process. If yes, Q200 is entered; otherwise, the next optimization stowing condition is closed, and it is again judged whether the closed optimization stowing condition is executed in the first traversal process.

[0085] Through the above method, the stowing position corresponding to the luggage to be stowed can be directly determined in the second traversal process, so that the number of traversal times is reduced, and the efficiency of determining the stowing position corresponding to the luggage to be stowed is improved.

[0086] In the embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage are acquired; according to the size of W and a preset traversal rule, each preset to-be-confirmed point in QR is sequentially traversed; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all preset stowing conditions, the target to-be-confirmed point is confirmed as a stowing position corresponding to the to-be-stowed luggage; otherwise, the next to-be-confirmed point is traversed; wherein the preset stowing conditions include a plurality of necessary stowing conditions and a plurality of optimized stowing conditions; if all preset to-be-confirmed points are traversed and the stowing position corresponding to the to-be-stowed luggage cannot be determined, the plurality of optimized stowing conditions are downgraded according to a preset stowing condition downgrade rule, and then each preset to-be-confirmed point in QR is sequentially traversed according to the size of W and the preset traversal rule; in the application, the preset stowing conditions are downgraded, so that the conditions for determining the stowing position corresponding to the to-be-stowed luggage are relaxed, and the stowing position corresponding to the to-be-stowed luggage is more easily determined, and in the case that there is stowing space, the stowing position of the to-be-stowed luggage can be determined.

[0087] Embodiment three

[0088] In embodiment one, due to the limitation of the necessary stowing conditions and the optimized stowing conditions, the stowing position corresponding to the to-be-stowed luggage may not be determined under the premise that the luggage cart has remaining stowing space, based on which, the following method is provided to further determine the stowing position corresponding to the to-be-stowed luggage:

[0089] H100, the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage are acquired; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage.

[0090] In the embodiment, before determining the stowing position of the to-be-stowed luggage, the stowed luggage on the current luggage cart needs to be identified; the stowed luggage can be identified by an image recognition method or a laser radar scanning method, and after the stowed luggage is identified, the stowed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stowed luggage; it can be understood that each three-dimensional luggage surrounding box represents the corresponding stowed luggage in space.

[0091] For the to-be-stowed luggage, the size information of the to-be-stowed luggage surrounding box corresponding to the to-be-stowed luggage can be acquired by image recognition; at the same time, the three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0092] H200, according to the size of W and a preset traversal rule, each preset to-be-confirmed point in QR is sequentially traversed.

[0093] In this embodiment, the method in steps S200-S620 in embodiment one can be used to traverse each preset to-be-confirmed point in the QR in sequence, which is not described herein again. The preset to-be-confirmed point can be the coordinate point corresponding to the center point of W each time W moves in embodiment one.

[0094] H300, if the to-be-stowed luggage corresponding stowing position is not determined from all to-be-confirmed points, each optimization stowing condition is obtained to obtain an optimization stowing condition list B=(B1, B2, …, B j , …, B m ), j=1, 2, …, m; wherein B j is the jth optimization stowing condition, and m is the number of optimization stowing conditions.

[0095] In this embodiment, due to the setting of the preset stowing conditions, after all the positions in the QR are traversed, the to-be-stowed luggage corresponding stowing position can not be determined. However, there is still stowing space in the luggage cart at this time. In order to be able to stow the to-be-stowed luggage in the luggage cart, secondary traversal is required.

[0096] H400, according to B, the priority of each optimization stowing condition is determined to obtain an optimization stowing condition priority list YB=(YB1, YB2, …, YB j , …, YB m ); wherein 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 ;

[0097] H500, a fourth preset value NM=m is obtained.

[0098] H600, if NM>0 and the to-be-stowed luggage corresponding stowing position is not determined, the execution state of B NM in B is set to off; NM=NM-1 is updated; and H200 is entered.

[0099] In this embodiment, the priority of any necessary stowing condition is greater than the priority of any optimization stowing condition, that is, the necessary stowing condition is executed before the optimization stowing condition. The optimization stowing condition is also provided with an execution priority, and the optimization stowing condition with a greater priority is executed before the stowing condition with a smaller priority.

[0100] It can be understood that after the first traversal, the reasons for failing to determine the storage position of the luggage to be stored are various, some positions may not meet the necessary storage conditions, and some positions may not meet the optimized storage conditions; and among the optimized storage conditions that do not meet the optimized storage conditions, some do not meet the optimized storage conditions with higher priority, and some do not meet the storage conditions with lower priority. Therefore, in the embodiment, the optimized storage condition with the lowest priority is first closed, and then H200 is entered to re-traverse each position in QR. If the storage position corresponding to the luggage to be stored is still not determined, the optimized storage condition with the next priority is closed, and the storage position corresponding to the luggage to be stored is determined.

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

[0102] H700, if NM≤0 or the storage position corresponding to the luggage to be stored is determined, the current processing is exited.

[0103] In the embodiment, if NM≤0, it indicates that all the optimized storage conditions have been closed, and the current processing is exited.

[0104] Further, in H600, after closing each optimized storage condition, it is judged whether the closed optimized storage condition is executed in the first traversal process. If it is executed, H200 is entered; otherwise, the next optimized storage condition is closed, and it is judged again whether the closed optimized storage condition is executed in the first traversal process.

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

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

[0107] H211, if W meets all the preset storage conditions, the target to-be-confirmed point is confirmed as the storage position corresponding to the luggage to be stored; otherwise, the next to-be-confirmed point is traversed; wherein the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimized storage conditions.

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

[0109] H221, a first preset value NUM1=0, a second preset value NUM2=0 and a third preset value NUM3=0 are obtained; and W is placed at the origin position corresponding to W in QR.

[0110] H222, if NUM1×ΔL Y <L Y -L Wthen enter H223; wherein, L Y is the length of the luggage cart in the Y-axis direction in the QR, 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 the plurality of three-dimensional luggage grids and whether W satisfies all the preset stacking conditions.

[0112] H224, if W coincides with at least one of the plurality of three-dimensional luggage grids or W does not satisfy at least one of the preset stacking conditions, move W in the Y-axis direction by ΔL Y , update NUM1=NUM1+1, enter H222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0113] Further, step H222 further comprises: if NUM1x ΔL Y ≥ L Y -L W , then enter H225.

[0114] H225, if NUM2x ΔH Z <H Z -H W , then enter H226; otherwise, enter H227; wherein, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in the QR.

[0115] H226, update NUM1=0, update NUM2=NUM2+1, place W at the intermediate position QE W =(W X +NUM3x ΔD X , W Y , W Z +NUM2x ΔH Z ), and enter H222.

[0116] H227, if NUM3x ΔD X <D X -D W , update NUM1=0, update NUM2=0, update NUM3=NUM3+1, place W at the intermediate position QE W =(W X +NUM3x ΔD X , W Y , W Z +NUM2x ΔH Z) is in H222, enter H222; otherwise, it is determined that the storage position corresponding to the luggage to be stored is not determined; wherein, ΔD X is a third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

[0117] By the above method, the storage position corresponding to the luggage to be stored can be directly determined in the process of secondary traversal, thereby avoiding excessive traversal times and improving the efficiency of determining the storage position corresponding to the luggage to be stored.

[0118] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage-to-be-stored bounding box W corresponding to the luggage to be stored are obtained; each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and a preset traversal rule; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all preset storage conditions, the target to-be-confirmed point is confirmed as the storage position corresponding to the luggage to be stored; otherwise, the next to-be-confirmed point is traversed; wherein, the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimized storage conditions; if all preset to-be-confirmed points are traversed and the storage position corresponding to the luggage to be stored is not determined, the plurality of optimized storage conditions are downgraded according to a preset storage condition downgrade rule, and each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and the preset traversal rule; in the present application, the preset storage conditions are downgraded, the conditions for determining the storage position corresponding to the luggage to be stored are relaxed, the storage position corresponding to the luggage to be stored is more easily determined, and in the case that there is storage space, it is ensured that the storage position of the luggage to be stored can be determined.

[0119] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage-to-be-stored bounding box W corresponding to the luggage to be stored are obtained; each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and a preset traversal rule; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all preset storage conditions, the target to-be-confirmed point is confirmed as the storage position corresponding to the luggage to be stored; otherwise, the next to-be-confirmed point is traversed; wherein, the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimized storage conditions; if all preset to-be-confirmed points are traversed and the storage position corresponding to the luggage to be stored is not determined, the plurality of optimized storage conditions are downgraded according to a preset storage condition downgrade rule, and each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and the preset traversal rule; in the present application, the preset storage conditions are downgraded, the conditions for determining the storage position corresponding to the luggage to be stored are relaxed, the storage position corresponding to the luggage to be stored is more easily determined, and in the case that there is storage space, it is ensured that the storage position of the luggage to be stored can be determined.

[0120] Embodiment Four

[0121] In the above embodiment one, the secondary traversal is a full traversal of all positions in the QR, which is less efficient. 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 to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage.

[0123] In this embodiment, before determining the stowing position of the to-be-stowed luggage, the stowed luggage on the current luggage cart needs to be identified; the stowed luggage can be identified by image recognition or laser radar scanning, and after the stowed luggage is identified, the stowed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stowed luggage. It can be understood that each three-dimensional luggage surrounding box represents the corresponding stowed luggage in space.

[0124] For the to-be-stowed luggage, the size information of the to-be-stowed luggage surrounding box corresponding to the to-be-stowed luggage can be obtained by 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 current luggage cart space.

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

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

[0127] T210, obtain a first preset value NUM1=0, a second preset value NUM2=0, and a third preset value NUM3=0; and place W at the origin position corresponding to W in the QR.

[0128] T220, if NUM1xAL Y <L Y -L W , then enter T230; wherein L Y is the length of the Y-axis direction of the luggage cart in the QR, L W is the length of the Y-axis direction of W; and AL Y is the first preset distance.

[0129] T230, determine whether W coincides with at least one of a plurality of three-dimensional luggage grids, and determine whether W satisfies all preset stowing conditions; wherein the preset stowing conditions include necessary stowing conditions and optimized stowing conditions.

[0130] T240: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1 and enter T220; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

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

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

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

[0134] T233: If W satisfies all the optimized stacking conditions, the current pending confirmation point is determined as the stacking location corresponding to the luggage to be stacked; otherwise, the current pending confirmation point is determined as the designated pending confirmation point.

[0135] Furthermore, step T200 may further include: if NUM1×ΔL Y ≥L Y -L W , then enter T250.

[0136] T250, if NUM2×ΔH Z <H Z -H W , then enter T260; otherwise, enter 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 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 ) and enter T220.

[0138] T270, 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×ΔDX , W Y , W Z + NUM2 x AH Z ) is entered into T220; otherwise, it is determined that the storage position corresponding to the luggage to be stored is not determined; wherein, AD X is a third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

[0139] In the embodiment, the order of traversal is first along the Y-axis direction, and if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by AH Z , and then the traversal along the Y-axis is continued, if Z-axis NUM2 x AH Z ≥ H Z - H W , it indicates 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 in the Y-axis direction is continued; that is, first along the Y-axis direction, then along the Z-axis direction, and finally along the X-axis direction; it can be understood that it is a three-layer loop to realize the traversal of the entire current luggage cart space; the effect of the traversal in this way is as follows:

[0140] Through the above traversal method, when storing the luggage, the luggage to be stored is first stored close to the far side of the current luggage cart, presenting a valley-shaped heap with the lower part being larger and the upper part being smaller, so that the robot does not collide with the stored luggage when storing the luggage, avoiding damage to the luggage.

[0141] T300, if all the preset confirmation points are traversed and the storage position corresponding to the luggage to be stored is not determined, a specified confirmation point is obtained to obtain a specified confirmation point list C = (C1, C2, …, C p , …, C q ), p = 1, 2, …, q; wherein, C p is the pth specified confirmation point obtained, and q is the number of specified confirmation points obtained; W is not coincided with any three-dimensional luggage grid, meets the preset necessary storage condition and does not meet the preset optimization storage condition when located at the specified confirmation point.

[0142] In the embodiment, when traversing each confirmation point in the QR for the first time, at a certain confirmation point, it is necessary to first determine whether it is coincided with the three-dimensional luggage grid, then determine whether it meets the necessary storage condition, and finally determine whether it meets the optimization storage condition; since there are multiple judgment conditions, after traversing each confirmation point, it is possible that the storage position corresponding to the luggage to be stored is not determined.

[0143] It should be noted that each time a to-be-confirmed point is traversed, the reason why the to-be-confirmed point is denied can be recorded, for example, the to-be-confirmed point does not meet the necessary stacking condition or does not meet the optimized stacking condition; therefore, each specified to-be-confirmed point can be obtained to obtain C; it can be understood that the number of to-be-confirmed points in C is less than the total number of to-be-confirmed points in QR; in the first traversal process, C e is traversed earlier than C e+1 , e = 1, 2,..., q-1.

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

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

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

[0147] In this embodiment, it should be noted that the first traversal is according to the preset traversal rule, that is, the traversal mode of three layers of loops is used to traverse each to-be-confirmed point in QR; and the second traversal is to traverse each specified to-be-confirmed point in C, which does not need to execute the traversal mode of three layers of loops, but only needs to traverse each specified to-be-confirmed point in C one by one, thereby greatly improving the traversal efficiency.

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

[0149] If the placing position of the luggage to be placed is not determined after each of the to-be-confirmed points in the three-dimensional coordinate system corresponding to the current luggage cart is traversed, a specified to-be-confirmed point is obtained; wherein, W is not coincident with any three-dimensional luggage grid, meets the preset necessary placing condition and does not meet the preset optimized placing condition when W is located at the specified to-be-confirmed point; that is, the specified to-be-confirmed point is a to-be-confirmed point that is denied due to not meeting the optimized placing condition; then, before the second traversal, the execution state of all the optimized placing conditions is set to off, and only the specified to-be-confirmed point is traversed in the subsequent second traversal, so as to ensure that the placing position of the luggage to be placed can be determined while improving the efficiency of determining the placing position of the luggage to be placed.

[0150] Embodiment five:

[0151] In the above embodiment one, all the optimized placing conditions are turned off during the second traversal, and the placing position of the luggage to be placed determined in this way may not meet many optimized placing conditions. Based on this, the following method is provided to determine a more appropriate placing position:

[0152] R100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a to-be-placed luggage box W corresponding to the luggage to be placed; wherein, the QR includes a plurality of three-dimensional luggage grids corresponding to the placed luggage.

[0153] In this embodiment, before determining the placing position of the luggage to be placed, the placed luggage on the current luggage cart needs to be identified; the placed luggage can be identified by an image recognition method or a laser radar scanning method, and after the placed luggage is identified, the placed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the placed luggage. It can be understood that each three-dimensional luggage box represents the placed luggage in the corresponding space.

[0154] For the luggage to be placed, the size information of the to-be-placed luggage box corresponding to the luggage to be placed can be obtained by an image recognition method; 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 current luggage cart space.

[0155] R200, according to the size of W and the preset traversal rule, each of the preset to-be-confirmed points in QR is traversed in turn.

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

[0157] R210, when W is at the target to-be-confirmed point, if W is not coincident with any three-dimensional luggage grid, R220 is entered; otherwise, the next to-be-confirmed point is traversed; wherein, the target to-be-confirmed point is any preset to-be-confirmed point.

[0158] R220, if W meets all preset stowing conditions, confirming the target to-be-confirmed point as the stowing position corresponding to the to-be-stowed luggage; otherwise, traversing the next to-be-confirmed point; wherein the preset stowing conditions include a plurality of necessary stowing conditions and a plurality of optimization stowing conditions.

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

[0160] R221, obtaining a first preset value NUM1 = 0, a second preset value NUM2 = 0, and a third preset value NUM3 = 0; and placing W at the original position corresponding to W in the QR.

[0161] R222, if NUM1 x AL Y <L Y -L W , entering R223; wherein L Y is the length of the luggage cart in the Y-axis direction in the QR, L W is the length of W in the Y-axis direction; and AL Y is the first preset distance.

[0162] Further, the step R222 can further include: if NUM1 x AL Y ≥L Y -L W , entering R225;

[0163] R225, if NUM2 x AH Z <H Z -H W , entering R226; otherwise, entering R227; wherein AH Z is the second preset distance; and H Z is the height of the luggage cart in the Z-axis direction in the QR.

[0164] R226, updating NUM1 = 0, updating NUM2 = NUM2 + 1, placing W at the intermediate position QE W = (W X + NUM3 x AD X , W Y , W Z + NUM2 x AH Z ), and entering R222.

[0165] R227, if NUM3 x AD X <D X -D W , updating NUM1 = 0, updating NUM2 = 0, updating NUM3 = NUM3 + 1, placing W at the intermediate position QE W = (W X + NUM3 x ADX , W Y , W Z + NUM2 x AH Z ) and entering R222; otherwise, determining that the storage position corresponding to the luggage to be stored is not determined; wherein, AD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

[0166] R223, determining whether W coincides with at least one of a plurality of three-dimensional luggage grids, and determining whether W satisfies all preset storage conditions.

[0167] R224, if W coincides with at least one of a plurality of three-dimensional luggage grids or W does not satisfy at least one of all preset storage conditions, moving W in the Y-axis direction by AL Y , updating NUM1 = NUM1 + 1, and entering R222; otherwise, determining the position currently occupied by W as the storage position corresponding to the luggage to be stored.

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

[0169] R300, if the storage position corresponding to the luggage to be stored is not determined from all confirmation points, obtaining each optimization storage condition to obtain an optimization storage condition list B = (B1, B2, …, B j , …, B m ), j = 1, 2, …, m; wherein, Bj is the jth optimization storage condition, and m is the number of optimization storage conditions. j

[0170] In this embodiment, due to the setting of the preset storage conditions, after traversing all positions in the QR, the storage position corresponding to the luggage to be stored may not be determined; however, there is still storage space in the luggage cart at this time. In order to be able to store the luggage to be stored in the luggage cart, multiple iterations are required to determine the storage position corresponding to the luggage to be stored.

[0171] ​It should be noted that the necessary stacking condition is a stacking condition set according to the relevant regulations of civil aviation, for example, the luggage with small volume is located on the luggage with large volume, and the current luggage to be stacked will not be thrown; and the optimized stacking condition is an optimized stacking condition set in order to improve the space utilization of the luggage cart or to make the luggage stacked neatly, and the execution state of the optimized stacking condition can be set to be opened or closed, when the execution state of the optimized stacking condition is opened, the optimized stacking condition needs to be met, otherwise, the optimized stacking condition does not need to be met.

[0172] R400, determine the priority of each optimized stacking condition according to B, to obtain an optimized stacking condition priority list YB=(YB1, YB2, …, YBm); wherein YB is the corresponding priority of B; YB>YB; r=1, 2, …, m-1; B precedes B. j m j j r r+1 r 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 precedes the execution of the optimized stacking condition; and the optimized stacking condition is also provided with the priority of execution, and the optimized stacking condition with high priority precedes the execution of the stacking condition with low priority.

[0174] R500, obtain a fourth preset value NM=m.

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

[0176] ​​​​​​​​​​​​​​​​​​​In the embodiment, no storage position corresponding to the luggage to be stored is determined in the first traversal process, indicating that all the to-be-confirmed points are denied; some of the denied to-be-confirmed points are denied due to not meeting the necessary storage condition, and some are denied due to not meeting the optimized storage condition; then, for any optimized storage condition, the storage condition may correspond to multiple denied to-be-confirmed points, or may not deny any to-be-confirmed point; taking the optimized storage condition as a dimension, the intermediate to-be-confirmed points corresponding to each optimized storage condition can be obtained.

[0177] Further, after step R600, the method further comprises:

[0178] R610, if NM≤0, it is judged that no storage position corresponding to the luggage to be stored is determined, and the current processing is exited.

[0179] In the embodiment, if NM≤0, it indicates that all the optimized storage conditions are closed, at this time, no storage position corresponding to the luggage to be stored is determined, the current processing is exited, and the luggage to be stored can be stored by manual mode subsequently.

[0180] R700, if f(NM)=0, NM is updated to NM-1, and R600 is entered; otherwise, the execution state of B in B is set to closed, to obtain the updated optimized storage condition list B' corresponding to B, and R800 is entered. NM . m .

[0181] In the embodiment, it is first judged whether f(NM) is equal to 0, if f(NM)=0, it indicates that no to-be-confirmed point is denied due to B NM , then, after closing B NM , the to-be-confirmed points are traversed again, and no storage position corresponding to the luggage to be stored is determined; therefore, the next optimized storage condition is closed at this time; if f(NM)≠0, R800 is entered.

[0182] R800, according to the size of W and B', D NM is traversed to obtain the storage position corresponding to the luggage to be stored.

[0183] In the embodiment, it can be understood that D NM is obtained to obtain the intermediate to-be-confirmed points corresponding to B NM , the obtained NM intermediate to-be-confirmed point list, and there are only a small amount of to-be-confirmed points in D NM , therefore, the time consumed in the traversal is short, thereby the efficiency of determining the storage position corresponding to the luggage to be stored is improved; in addition, the intermediate to-be-confirmed points in D NM are arranged in the order from first to last in the first traversal.

[0184] In this embodiment, after traversing each to-be-confirmed point in the three-dimensional coordinate system corresponding to the current luggage cart for the first time, if the stacking position corresponding to the to-be-stacked luggage is not determined from all the to-be-confirmed points, 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 the order of priority from small to large, and after closing each optimized stacking condition, the intermediate to-be-confirmed point list corresponding to the optimized stacking condition is traversed to determine the stacking position corresponding to the to-be-stacked luggage.

[0185] Further, in the present application, the optimized stacking conditions are closed according to the priority, the optimized stacking condition with the smallest priority is closed first, and the optimized stacking condition with the smallest priority has the smallest influence on the determined stacking position of the to-be-stacked luggage. Therefore, the present application can determine the stacking position corresponding to the to-be-stacked luggage under the premise of small influence, and can also improve the efficiency of determining the stacking position corresponding to the to-be-stacked luggage.

[0186] Embodiment six:

[0187] Based on the method in embodiment one, after moving each position, it is necessary to determine whether there is a situation of throwing luggage when the to-be-stacked luggage is stacked at the position, so as to make the determined stacking position more appropriate. Based on this, the following method is provided:

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

[0189] 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 image recognition or laser radar scanning, and after identifying the stacked luggage, the stacked luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stacked luggage. It can be understood that each three-dimensional luggage box represents the corresponding space stacked luggage.

[0190] For the to-be-stacked luggage, the size information of the to-be-stacked luggage box corresponding to the to-be-stacked luggage can be obtained by 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 current luggage cart space.

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

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

[0193] E221, obtaining a first preset value NUM1=0, a second preset value NUM2=0 and a third preset value NUM3=0; and placing the W at a corresponding origin position of the W in the QR.

[0194] E222, if NUM1xAL Y <L Y -L W , entering E223; wherein, L Y is a length of the luggage cart in the Y axis direction in the QR, L W is a length of the W in the Y axis direction; and AL Y is a first preset distance.

[0195] E223, judging whether the W coincides with at least one of a plurality of three-dimensional luggage grids and whether the W satisfies all preset stacking conditions.

[0196] E224, if the W coincides with at least one of the plurality of three-dimensional luggage grids or the W does not satisfy at least one of the preset stacking conditions, moving the W by AL Y in the Y axis direction, updating NUM1=NUM1+1, and entering E222; otherwise, determining a current position of the W as a stacking position corresponding to the luggage to be stacked.

[0197] Further, the step E222 can further comprise: if NUM1xAL Y ≥L Y -L W , entering E225.

[0198] E225, if NUM2xAH Z <H Z -H W , entering E226; otherwise, entering E227; wherein, AH Z is a second preset distance; and H Z is a height of the luggage cart in the Z axis direction in the QR.

[0199] E226, updating NUM1=0, updating NUM2=NUM2+1, placing the W at an intermediate position QE W =(W X +NUM3xD X , W Y , W Z +NUM2xH Z ), and entering E222.

[0200] E227, if NUM3xD X <DX D W , update NUM1=0, update NUM2=0, update NUM3=NUM3+1, put W at the middle position QE W =(W X +NUM3xAD X , W Y , W Z +NUM2xAH Z ) and enter E222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked is not determined; wherein AD X is a third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

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

[0202] E300, when W is at the target confirmation point, if W does not coincide with any three-dimensional luggage grid and W satisfies all the preset stacking conditions, enter E400; otherwise, traverse the next confirmation point; wherein the target confirmation point is any preset confirmation point.

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

[0204] E400, move W downward by a fourth preset distance AH.

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

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

[0207] E600: Determine, based on each three-dimensional baggage grid that coincides with W after being moved downward by ΔHA, whether the target point to be confirmed is a stacking position corresponding to the baggage to be stacked.

[0208] Furthermore, 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 a first three-dimensional luggage grid list G = (G1, G2, ..., G a ,…,G b ), a=1, 2, ..., b; where G a is the ath three-dimensional luggage grid that overlaps with W after moving downward by ΔHA, and b is the number of three-dimensional luggage grids that overlap with W after moving downward by ΔHA.

[0210] In this embodiment, if W overlaps with several three-dimensional luggage grids after being moved downward by the fourth preset distance ΔHA, it indicates that there is already stacked luggage within a distance ΔHA below the luggage to be stacked. In this case, each three-dimensional luggage grid that overlaps with W after being moved 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 corresponding to G = (TG1, TG2, ..., TG a ,…,TG b ); among them, TG a G a The projected area on the base of W.

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

[0213] E640: If ZG / ZW ≥ DE, proceed to E650; otherwise, determine that the target point to be confirmed is not the stacking location corresponding to the luggage 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 ​​close to or equal to 1. If ZG / ZW ≥ DE, it indicates that the area of ​​the lower surface of the luggage to be stacked is substantially the same as the area of ​​the upper surface of the luggage already stacked below. Therefore, it can be considered that the size of the luggage to be stacked is no larger than the size of the luggage already stacked below. In other words, there will not be a situation where larger luggage suppresses smaller luggage, which complies with relevant civil aviation regulations.

[0215] Furthermore, 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 luggage grid that coincides with W after moving ΔHB along the preset direction of the Y axis of QR to obtain a second three-dimensional luggage grid list F = (F1, F2, ..., F c ,…,F d ), c=1, 2, ..., d; where F c is the cth three-dimensional luggage grid that overlaps with W after moving ΔHB along the preset direction of the Y axis of QR, and d is the number of three-dimensional luggage grids that overlap 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 luggage grid in F on the side of W perpendicular to the Y axis to obtain the corresponding projected area list TF = (TF1, TF2, ..., TF c ,…,TF d ); among them, TF c F c The projected area on the side of W perpendicular to the Y axis.

[0219] E654, based on TF, determine the total side projection area corresponding to F, ZF = ∑ d c＝1 TF c .

[0220] E655: If ZF / ZW'≥DE', the target point to be confirmed is determined to be the stacking location corresponding to the luggage to be stacked. Otherwise, the target point to be confirmed is determined not to be the stacking location corresponding to the luggage to be stacked. ZW' is the area of ​​the side of W perpendicular to the Y axis, DE' is a preset second area ratio threshold, and DE'<1.

[0221] In this embodiment, during the baggage stacking process, a situation may occur: two already stacked bags each have a handle protruding from the overall baggage structure. The handles also correspond to a three-dimensional baggage grid. Therefore, when traversing the stacking positions corresponding to the currently stacked baggage, the stacking position corresponding to the currently stacked baggage may be determined to be between the handles of the two already stacked bags. This will result in a large space between the handles of the currently stacked baggage, which will have a certain impact on the subsequent baggage stacking.

[0222] Therefore, by the method in steps E651-E655, it can be determined that whether the side of the current luggage to be stowed along the Y-axis direction is adjacent to the side of the stowed luggage or adjacent to the handle of the stowed luggage when the target to-be-confirmed point is reached, thereby avoiding determining the stowing position of the current luggage between the handles of the two stowed luggage, causing the two stowed luggage to have a large space, and causing a problem of affecting the stowing of subsequent luggage. In addition, the stowing of the luggage can be more compact, and the space utilization of the luggage cart can be improved.

[0223] In the embodiment, in the process of determining the stowing position of the current luggage to be stowed, when W reaches the target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid, and W satisfies all the preset stowing conditions, W is moved downward by a fourth preset distance ΔHA. If W does not coincide with any three-dimensional luggage grid after being moved downward by ΔHA, it is determined that the target to-be-confirmed point is not the stowing position of the luggage to be stowed. Otherwise, according to each three-dimensional luggage grid coinciding with W after being moved downward by ΔHA, it is determined whether the target to-be-confirmed point is the stowing position of the luggage to be stowed. By the above method, it can be determined whether the current luggage to be stowed is in a suspended state, thereby avoiding the current luggage to be stowed being thrown down, and causing the current luggage to be stowed to be damaged.

[0224] Embodiment seven:

[0225] In the above embodiments, in the process of stowing the luggage to be stowed, whether the luggage is soft luggage or hard luggage is not considered. If the hard luggage is pressed against the soft luggage, the soft luggage may be damaged. In order to avoid this situation, the following method is provided based on the above embodiments:

[0226] P100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a to-be-stowed luggage box W corresponding to the luggage to be stowed; wherein QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage; the space of the luggage cart includes a lower space and an upper space, and the lower space includes a first subspace for stowing first type luggage and a second subspace for stowing second type luggage; the hardness of the first type luggage is less than the hardness of the second type luggage.

[0227] In the embodiment, before determining the stowing position of the luggage to be stowed, the stowed luggage on the current luggage cart needs to be identified. The stowed luggage can be identified by an image recognition method or a laser radar scanning method. After the stowed luggage is identified, the stowed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stowed luggage. It can be understood that each three-dimensional luggage box represents the stowed luggage in the corresponding space.

[0228] For the luggage to be coded, the size information of the surrounding box corresponding to the luggage to be coded 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 current luggage cart space. The first type of luggage can be understood as a hard luggage box, and the second type of luggage can be understood as a soft luggage bag. The airport management personnel can confirm the type of luggage through manual labeling, and the type of each luggage to be coded can be directly obtained subsequently.

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

[0230] In this embodiment, the first type of luggage has been coded in the first sub-space, which means that the first type of luggage has been coded in the first sub-space. The upper part of the first sub-space cannot code the second type of luggage, i.e., the hard luggage, to avoid the first type of luggage being crushed.

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

[0232] P221, obtaining a first preset value NUM1=0, a second preset value NUM2=0 and a third preset value NUM3=0; and placing W at the origin position corresponding to W in QR.

[0233] P222, if NUM1xΔL Y <L Y -L W , then enter P223; wherein, 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; and ΔL Y is the first preset distance.

[0234] P223, determining whether W coincides with at least one of a plurality of three-dimensional luggage grids and whether W satisfies all preset coding conditions.

[0235] P224, if W coincides with at least one of a plurality of three-dimensional luggage grids or W does not satisfy at least one of all preset coding conditions, then moving W along the Y-axis direction by ΔL Y , updating NUM1=NUM1+1, and entering P222; otherwise, determining the current position of W as the coding position corresponding to the luggage to be coded.

[0236] Further, step P222 can further include: if NUM1xΔL Y ≥L Y -LW Then, go to P225.

[0237] P225, if NUM2 x AH Z <H Z -H W Then, go to E226; otherwise, go to E227; wherein, AH Z is a second preset distance; H Z is a height of the luggage cart in the Z-axis direction in the QR.

[0238] P226, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W = (W X + NUM3 x AD X , W Y , W Z + NUM2 x AH Z ), and go to P222.

[0239] P227, if NUM3 x AD X < D X - D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the middle position QE W = (W X + NUM3 x AD X , W Y , W Z + NUM2 x AH Z ), and go to P222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked is not determined; wherein, AD X is a third preset distance; D X is a width of the luggage cart in the X-axis direction in the QR.

[0240] In the embodiment, the method of sequentially traversing each preset to-be-confirmed point in the 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 details are not repeated here; the preset to-be-confirmed point can be the coordinate point corresponding to the center point of W each time W moves in Embodiment 1.

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

[0242] In the embodiment, when the W is at the target to-be-confirmed point, if the W does not coincide with any three-dimensional luggage grid and the W satisfies all the preset stacking conditions, it indicates that the target to-be-confirmed point satisfies the preset stacking conditions, and the target to-be-confirmed point can be the stacking position corresponding to the current to-be-stacked luggage. However, it is still needed to further determine whether there is a hard luggage pressing soft luggage case.

[0243] P400, if the target to-be-confirmed point is not the to-be-confirmed point above the first sub-space, the target to-be-confirmed point is determined as the stacking position corresponding to the to-be-stacked luggage; otherwise, the next to-be-confirmed point is traversed.

[0244] In the embodiment, the target to-be-confirmed point is not the to-be-confirmed point above the first sub-space, and the current to-be-stacked luggage is the second type luggage, and the first type luggage has been stacked in the first sub-space. At this time, the to-be-stacked luggage is stacked at the target to-be-confirmed point, and the first type luggage will not be pressed.

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

[0246] P500, if the to-be-stacked luggage is the second type luggage, and the first type luggage has not been stacked in the first sub-space, the preset to-be-confirmed points in the QR are traversed in sequence according to the size of the W and the preset traversal rule.

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

[0248] In the embodiment, since the first type luggage has not been stacked in the first sub-space, that is, the soft luggage has not been stacked in the first sub-space, the stacking position corresponding to the second type luggage can be any position in the lower space and the upper space, and the soft luggage will not be pressed.

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

[0250] P600, if the to-be-stacked luggage is the first type luggage, the preset to-be-confirmed points in the QR are traversed in sequence according to the size of the W and the preset traversal rule.

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

[0252] In the embodiment, when the luggage to be stowed is soft luggage, the luggage to be stowed can be stowed at any position in the luggage cart, regardless of whether the first type of luggage is stowed in the first sub-space, and the hard luggage will not press the soft luggage. It should be noted that, in the embodiment, the first type of luggage can press the first type of luggage, that is, the soft luggage can press the soft luggage.

[0253] In the 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 stowing the first type of luggage and a second sub-space for stowing the second type of luggage; the hardness of the first type of luggage is less than the hardness of the second type of luggage; if the luggage to be stowed is the second type of luggage and the first type of luggage is stowed in the first sub-space, then according to the size of W and the preset traversal rule, each preset to-be-confirmed point in the three-dimensional coordinate system corresponding to the luggage cart is traversed in turn; when W is at the target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all the preset stowing conditions, and the target to-be-confirmed point is not a to-be-confirmed point located above the first sub-space, then the target to-be-confirmed point is determined as the stowing position corresponding to the luggage to be stowed. Through the method in the application, it can be ensured that the luggage with greater hardness will not be stowed on the luggage with smaller hardness, thereby avoiding the situation that the softer luggage is damaged by the harder luggage.

[0254] Embodiment eight:

[0255] In embodiment one, the end condition of the three-layer loop traversal is the preset distance. However, the preset distance may not meet all luggage carts, resulting in that the luggage to be stowed exceeds the stowing space range of the luggage cart when the luggage to be stowed is at the determined stowing position. In order to avoid this situation, the following method is provided:

[0256] F100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a to-be-stowed luggage surrounding box W corresponding to the luggage to be stowed; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage.

[0257] In the embodiment, before determining the stowing position of the luggage to be stowed, the stowed luggage on the current luggage cart needs to be identified; the stowed luggage can be identified by image recognition or laser radar scanning method, and after the stowed luggage is identified, the stowed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point cloud corresponding to the stowed luggage. It can be understood that each three-dimensional luggage surrounding box represents the stowed luggage in the corresponding space.

[0258] For the luggage to be stowed, the size information of the to-be-stowed luggage surrounding box corresponding to the luggage to be stowed can be obtained by 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 current luggage cart space.

[0259] F200, setting a virtual bounding box corresponding to the virtual luggage in the QR; wherein the virtual bounding box is located outside the current luggage cart, and the virtual bounding box is adjacent to four sides of the current luggage cart; the size of the side of the adjacent virtual bounding box is the same as that of the side of the current luggage cart.

[0260] In this embodiment, after the luggage is identified, a virtual bounding box is set outside the luggage cart and closely attached to the luggage cart. The virtual bounding box is a three-dimensional rectangular solid, and the virtual bounding box is used to represent the external area of the luggage cart.

[0261] F300, according to the size of W and the preset traversal rule, each preset to-be-confirmed point in the QR is traversed in turn; wherein when W is at a target to-be-confirmed point, 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 to-be-confirmed point is determined as the stacking position corresponding to the to-be-stacked luggage.

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

[0263] F310, obtaining a first preset value NUM1=0, a second preset value NUM2=0 and a third preset value NUM3=0; and placing W at the origin position corresponding to W in the QR.

[0264] In this embodiment, the origin position corresponding to W in the QR is the same as the origin position corresponding to W in the QR in Embodiment One, which is not described here.

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

[0266] In this embodiment, the virtual bounding box set corresponds to the maximum and minimum X, Y and Z axis coordinates. The method for judging whether W coincides with the three-dimensional luggage grid in Embodiment One can be used to judge whether W coincides with the virtual bounding box, which is not described here.

[0267] F330, if W does not coincide with the virtual bounding box, F340 is entered; otherwise, F350 is entered;

[0268] In this embodiment, if W does not coincide with the virtual bounding box, it means that the current position of W in the QR 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, the target to-be-confirmed point is determined as the stacking position corresponding to the to-be-stacked luggage; otherwise, W is moved along the Y axis direction by ΔL Y ; wherein ΔL Y is the first preset distance, and F320 is entered.

[0270] In this embodiment, step F340 is the same as the method in step S500 in Embodiment One, and thus is not described again.

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

[0272] F351, if NUM2 x ΔH Z <H Z -H W , then NUM2 is updated as NUM2+1.

[0273] In this embodiment, if NUM2 x ΔH Z <H Z -H W , it indicates that the traversal in the Z-axis direction is not completed.

[0274] F352, W is placed at the intermediate position QE W =(W X +NUM3 x ΔD X , W Y , W Z +NUM2 x ΔH Z ), and it is determined whether W coincides with the virtual bounding box; ΔH Z is a second preset distance; and ΔD X is a third preset distance.

[0275] F353, if W does not coincide with the virtual bounding box, then step F340 is entered; otherwise, NUM2 is updated as 0, NUM3 is updated as NUM3+1, W is placed at the intermediate position QE W =(W X +NUM3 x ΔD X , W Y , W Z +NUM2 x ΔH Z ), and it is determined whether W coincides with the virtual bounding box.

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

[0277] It should be noted that in this embodiment, each movement of a position needs to be first judged whether W coincides with the virtual bounding box to determine whether W is out of the stacking space range of the current luggage cart after movement; it can be understood that the virtual bounding box is taken as the end condition of traversal in this embodiment, while in the first embodiment, the preset traversal distance is taken as the end condition of traversal; and there are multiple luggage carts, and the size between each luggage cart is not absolutely the same, and there will be slight differences, if the fixed traversal distance is taken as the end condition of traversal, it may cause the to-be-stacked luggage to be out of 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 through visual recognition, and then the corresponding virtual bounding box is set, so that the above problem can be avoided.

[0278] In this embodiment, 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 are obtained; wherein QR includes a plurality of three-dimensional luggage grids corresponding to the already-stacked luggage; a virtual bounding box corresponding to the virtual luggage is set 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 size of the side of the adjacent virtual bounding box is the same as that of the side of the current luggage cart; according to the size of W and the preset traversal rule, each preset to-be-confirmed point in QR is traversed in turn; wherein when W is at the target to-be-confirmed point, 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 to-be-confirmed point is determined as the stacking position corresponding to the to-be-stacked luggage; so as to ensure that the stacking position corresponding to the to-be-stacked luggage is determined without exceeding the space range of the luggage cart.

[0279] Further, the stacking position corresponding to the to-be-stacked luggage is determined based on the already-stacked luggage corresponding to the current luggage cart and the size of the to-be-stacked luggage, so that the determined stacking position corresponding to the to-be-stacked luggage is more consistent with the remaining stacking space of the current luggage cart, so that the luggage is more compact and neat, and the space utilization rate of the luggage cart is improved.

[0280] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be divided into multiple steps, etc.

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

[0282] The program product can employ 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 may, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any suitable combination of the above. More specific examples (non-exhaustive list) of readable storage media 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 baseband or propagated as a carrier wave in a propagated data signal, in which the readable program code is carried. Such a propagated data signal can take on many 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 that is not a readable storage medium and that can transmit, propagate or transport the program for use by or in connection with an instruction execution system, apparatus or device.

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

[0285] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, etc., and a conventional procedural programming language such as the "C" language or a similar programming language. The program code can be executed entirely on the user computing device, partially on the user device, as a standalone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any kind 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, through the Internet by using an Internet service provider).

[0286] Embodiments of the present application 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 bring any limitation to the functions and usage scope of the embodiments of the present application.

[0288] The electronic device is in the form of a general computing device. The components of the electronic device can include, but are not limited to, the aforementioned at least one processor, the aforementioned at least one memory, a bus connecting different system components including the memory and the processor.

[0289] The memory stores program codes which can be executed by the processor, so that the processor performs the steps in the various embodiments described in the specification.

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

[0291] The memory can also include programs / utilities with a set of (at least one) program modules, such as an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which can include the implementation of a network environment.

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

[0293] The electronic device can also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.) and can also communicate with one or more devices that enable a user to interact with the electronic device (and / or one or more input / output (I / O) devices 620), and / or with any devices (such as a router, a modem, etc.) that enable the electronic device to communicate with one or more other computing devices. Such communication can occur via an I / O interface. Also, the electronic device can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the public network, such as the Internet) via a network adapter. The network adapter communicates with the other modules of the electronic device via the bus. It should be appreciated that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0294] Those skilled in the art can clearly understand the example embodiments described herein through the above description of the example embodiments, and the example embodiments described herein can be implemented by software or by software in combination with 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 (which can be a CD-ROM, a USB flash disk, a mobile hard disk, or the like) or on a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0295] Embodiments of the present disclosure also provide a computer program product comprising program code for causing an electronic device to perform the steps of the methods according to the various example embodiments of the present disclosure described above in the specification when the program product is run on the electronic device.

[0296] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present disclosure. 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 disclosure.

Claims

1. A method for determining a luggage stacking location, characterized in that: The method comprises the following steps: S100: 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 , width D in the X-axis direction X and the height H in the Z-axis direction Z ; Among them, the QR includes several three-dimensional luggage grids corresponding to the stacked luggage, and each three-dimensional luggage grid corresponds to the location 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 meet at least one of all the preset stacking conditions, move W along the Y axis 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; 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; Step S300 further 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 go to S610; otherwise, go to S620; where ΔH Z is the 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.

2. The method for determining the luggage stacking position according to claim 1, characterized in that: The preset stacking conditions include several necessary stacking conditions and several 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 optimized stacking conditions in the preset stacking conditions is set to off, and the process goes to S200.

3. The method for determining the luggage stacking position according to claim 1, wherein: 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.

4. The method for determining the luggage stacking position according to claim 1, wherein: ΔL Y =ΔH Z =ΔD X =20mm。 5. The method for determining the luggage stacking position according to claim 1, wherein: 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, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional baggage grid in QR, to obtain a list set of minimum and maximum coordinates of the three-dimensional baggage grid A = (A1, A2, ..., A i ,…,A n ), i=1, 2,...,n; among them, A i is the minimum and maximum coordinate list of the i-th three-dimensional luggage grid, 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 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, obtain 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 an overlap, it is determined that W overlaps with at least one of the three-dimensional luggage grids.

6. 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 segment is loaded and executed by the processor to implement the luggage stacking position determination method according to any one of claims 1 to 5.

7. An electronic device, characterized in that: The device comprises a processor and the non-transitory computer-readable storage medium of claim 6.

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