Method for determining stacking positions of different types of luggage, electronic equipment and storage medium

Abstract

The invention provides a method for determining the stacking positions of different types of luggage, electronic equipment and a storage medium, and relates to the technical field of luggage stacking position determination.The method comprises the steps that the space of a luggage barrow is divided into a lower-layer space and an upper-layer space; the hardness of the first-type luggage is smaller than that of the second-type luggage; if the to-be-stacked luggage is the second type of luggage and the first type of luggage is stacked in the first subspace, sequentially traversing each preset to-be-confirmed point in a three-dimensional coordinate system corresponding to the luggage barrow; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W meets all preset stacking conditions, and the target to-be-confirmed point is not a to-be-confirmed point located above the first subspace, determining the target to-be-confirmed point as a stacking position corresponding to the to-be-stacked luggage; by means of the luggage stacking device, it can be ensured that luggage with the large hardness cannot be stacked on luggage with the small hardness, and therefore the situation that soft luggage is crushed by hard luggage is avoided.

Description

Technical Field

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

[0002] In the civil aviation field, luggage handling is a major challenge in the modern aviation industry. Due to the increasing passenger flow at airports, the number of passengers' luggage is also rising continuously. For luggage handling, in order to improve the handling efficiency of luggage, some airports use automated luggage handling equipment to transfer luggage from the conveyor belt to the luggage cart, and then transport it to the corresponding flight's aircraft by the luggage cart for loading and consignment. Usually, when stacking luggage, it will be stacked in sequence according to the preset stacking rules. However, there are soft luggage and hard luggage. If the luggage is stacked in sequence, the hard luggage will be stacked on top of the soft luggage, which may cause the soft luggage to be crushed. Summary of the Invention

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

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

[0005] P100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a luggage bounding box W corresponding to the luggage to be stacked; wherein, QR includes a three-dimensional luggage grid corresponding to a plurality of stacked luggage; the space of the luggage cart includes a lower space and an upper space, and the lower space includes a first sub-space for stacking the first type of luggage and a second sub-space for stacking the second type of luggage; the hardness of the first type of luggage is less than that of the second type of luggage.

[0006] P200, if the luggage to be stacked is the second type of luggage and the first type of luggage has been stacked in the first sub-space, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0007] P300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then enter P400; otherwise, traverse the next point to be confirmed; wherein, the target point to be confirmed is any preset point to be confirmed.

[0008] P400, if the target point to be confirmed is not a point to be confirmed above the first sub-space, then determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed.

[0009] According to another aspect of the present application, there is also provided a non-transitory computer-readable storage medium storing at least one instruction or at least one program segment, which is loaded and executed by a processor to implement the method for determining the stacking positions of different types of luggage as described above.

[0010] According to another aspect of the present application, there is also provided an electronic device including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0011] The present invention has at least the following beneficial effects:

[0012] In the method for determining the stacking positions of different types of luggage of the present invention, the space of the luggage cart is divided into a lower layer space and an upper layer space. The lower layer space includes a first sub-space for stacking the first type of luggage and a second sub-space for stacking the second type of luggage; the hardness of the first type of luggage is less than that of the second type of luggage; if the luggage to be stacked is of the second type and the first type of luggage has been stacked in the first sub-space, then according to the size of W and a preset traversal rule, each preset point to be confirmed in the three-dimensional coordinate system corresponding to the luggage cart is traversed in sequence; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, and the target point to be confirmed is not a point to be confirmed above the first sub-space, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; through the method in the present invention, it can be ensured that the luggage with a greater hardness will not be stacked on top of the luggage with a smaller hardness, thereby avoiding the situation where the softer luggage is crushed by the harder luggage. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a flowchart of the method for determining the stacking positions of different types of luggage provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0016] It should be noted that based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. Additionally, this device can be implemented and this method can be practiced using other structures and / or functions in addition to one or more of the aspects described herein.

[0017] Embodiment 1:

[0018] In this embodiment, a method for determining the stacking position of the luggage to be stacked is provided, and the method may include the following steps:

[0019] S100. Obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z ; wherein, the QR includes three-dimensional luggage grids corresponding to several stacked luggages, and each three-dimensional luggage grid corresponds to position coordinates and dimension information.

[0020] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional bounding box represents the stacked luggage in the corresponding space.

[0021] For the luggage to be stacked, the dimension information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0022] Further, the luggage to be stacked is picked up by a preset manipulator; wherein, when the preset manipulator places the luggage to be stacked, the orientation of the manipulator is perpendicular to the side wall of the luggage cart in the Y-axis direction in QR.

[0023] Based on the above setting of the manipulator orientation, in the subsequent process of determining the stacking position, first traverse along the Y-axis direction to achieve convenient stacking of the luggage and avoid collision with the stacked luggage.

[0024] S200. Obtain the first preset value NUM 1= 0, and place W at the origin position of W in QR.

[0025] In this embodiment, since the position of the luggage to be stacked is determined based on the stack shape of the luggage already stacked on the current luggage cart, after each luggage to be stacked is placed, it is necessary to re-obtain the three-dimensional coordinate system corresponding to the current luggage cart; then place W at the origin position of W in QR to determine the optimal stacking position corresponding to the current luggage to be stacked based on the stack shape of the current luggage cart.

[0026] Further, the origin position QR of W in QR W = (W X , W Y , W Z ); where W X is the X-axis coordinate of the origin position of W in QR, W Y is the Y-axis coordinate of the origin position of W in QR, W Z is the Z-axis coordinate of the origin position of 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.

[0027] In this embodiment, when W is placed at the origin position QR of W in QR W , the center point of W coincides with QR W ; it can be understood that when the size of W is different, the corresponding origin position QR of W in QR W is also different. When W is at the origin position, one vertex of W coincides with the origin of the QR coordinate system. Thus, W can start traversing from a bottom vertex of the current luggage cart.

[0028] S300, if NUM 1 ×ΔL Y <L Y -L W , then enter S400; where L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0029] Further, if NUM 1 ×ΔL Y ≥L Y -L W , then obtain the second preset value NUM 2= 0 and the third preset value NUM 3 = 0, enter S600.

[0030] S600, if NUM 2 ×ΔH Z <H Z -H W , then enter S610; otherwise, enter S620; where ΔH Z is the second preset distance.

[0031] S610, update NUM 1 = 0, update NUM 2 = NUM 2 + 1, place W at the middle position QE W = (W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ), enter S300.

[0032] S620, if NUM 3 ×ΔD X <D X -D W , update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ), enter S300; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance.

[0033] Furthermore, ΔL Y = ΔH Z = ΔD X = 20mm can be set; under this parameter setting, it can be ensured that the luggage is stacked more closely on the premise of higher traversal efficiency, thereby improving the space utilization rate of the luggage cart.

[0034] In this embodiment, the traversal order is to first traverse along the Y-axis direction. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by ΔH Z , and then continue to traverse along the Y-axis again. If the Z-axis NUM 2 ×ΔH Z ≥H Z -H W , it means that the traversal in the Z-axis direction is also completed. At this time, the coordinate of the X-axis needs to be changed, and the traversal along the Y-axis direction continues; that is, first traverse along the Y-axis direction, then along the Z-axis direction, and finally along the X-axis direction; it can be understood as a three-layer loop to achieve the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

[0035] Through the above traversal method, when stacking the luggage, the luggage to be stacked will first be stacked against the farther side of the current luggage cart, presenting a shape like a grain pile with a larger bottom and a smaller top, so that when the manipulator stacks the luggage, it will not collide with the stacked luggage and avoid damage to the luggage.

[0036] S400, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0037] In this embodiment, when W is in any position, it is necessary to determine whether W will collide with other stacked luggage and whether it meets all other preset stacking conditions at this position; it can be understood that if W coincides with at least one of several three-dimensional luggage grids, it means that W will collide with the stacked luggage at this position.

[0038] Further, determining whether W coincides with at least one of several three-dimensional luggage grids may include the following steps:

[0039] S410, obtain the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR to obtain a set of minimum and maximum coordinate lists of the three-dimensional luggage grid A=(A 1 , A 2 , …, A i , …, A n ), i = 1, 2, …, n; where A i is the minimum and maximum coordinate list of the i-th three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; A i =(A i，X _min, A i，X _max, A i，Y _min, A i，Y _max, A i，Z _min, Ai，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, respectively, and 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, respectively, and 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, respectively.

[0040] In this embodiment, each three-dimensional luggage grid in the QR corresponds to the 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 three-dimensional luggage grid in the QR can be obtained.

[0041] S420. Obtain the minimum X-axis coordinate W of W in the QR min，X and the maximum X-axis coordinate W max，X and the minimum Y-axis coordinate W min，Y and the maximum Y-axis coordinate W max，Y and the minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0042] Similarly, when W is in different positions in the QR, the corresponding minimum X-axis coordinate W min，X and the maximum X-axis coordinate W max，X and the minimum Y-axis coordinate W min，Y and the maximum Y-axis coordinate W max，Y and the minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z can also be obtained.

[0043] S430. Traverse A. If the X-axis coordinate interval of A i [A i，X _min, A i，X _max] overlaps with the X-axis coordinate interval of W[W min，X , W max，X , the Y-axis coordinate interval of A i [A i，Y _min, A i，Y _max] overlaps with the Y-axis coordinate interval of W[W min，Y , W max，Y and the Z-axis coordinate interval of A i [A i，Z _min, A i，Z _max] overlaps with the Z-axis coordinate interval of W[W min，Z , W max，ZIf there is an overlap, it is determined that W overlaps with at least one of a number of three-dimensional luggage grids.

[0044] In this embodiment, through the above steps, it can be determined whether there will be a collision with the already stacked luggage when W is at a certain position in QR; if there is no collision with the already stacked luggage when W is at a certain position in QR, it is also necessary to determine whether all the preset stacking conditions are met when W is at this position; the preset stacking conditions are set according to relevant civil aviation regulations. For example, the preset stacking conditions may include that the luggage with a smaller volume is placed above the luggage with a larger volume, and there is no situation where the currently to-be-stacked luggage is thrown, etc.

[0045] S500, if W overlaps with at least one of a number of three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W along the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 +1, and enter S300; otherwise, determine the position where W is currently located as the stacking position corresponding to the to-be-stacked luggage.

[0046] In this embodiment, due to the setting of the preset stacking conditions, after traversing all positions in QR, it is possible that the stacking position corresponding to the to-be-stacked luggage has not been determined. In order to stack the to-be-stacked luggage into the luggage cart, a second traversal is required.

[0047] Further, the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions; among them, the execution status of the necessary stacking conditions is enabled, and the execution status of the optimized stacking conditions includes enabled and disabled.

[0048] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to relevant civil aviation regulations. For example, the luggage with a smaller volume is placed above the luggage with a larger volume, and there is no situation where the currently to-be-stacked luggage is thrown; while the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to enabled or disabled. When the execution status of the optimized stacking conditions is enabled, the optimized stacking conditions need to be met; otherwise, they do not need to be met.

[0049] After step S620, the method may further include the following steps:

[0050] S700, if the stacking position corresponding to the to-be-stacked luggage has not been determined, then set the execution status of all the optimized stacking conditions in the preset stacking conditions to disabled, and enter S200.

[0051] In this embodiment, after traversing all positions in QR, if the placement position corresponding to the luggage to be placed is not determined, the execution status of all optimized placement conditions in the preset placement conditions is set to closed; then, enter S200, and traverse each position in QR again to determine the placement position corresponding to the luggage to be placed.

[0052] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be placed corresponding to the luggage to be placed, and the length L of the luggage cart in the Y-axis direction in QR are obtained Y and the width D in the X-axis direction X and the height H in the Z-axis direction Z , and then, along the Y-axis direction according to the size of W, with a step size of ΔL Y traverse the space in the Y-axis direction of the current luggage cart. If W does not coincide with all three-dimensional luggage grids and W meets all preset placement conditions, the position where W is currently located is determined as the placement position corresponding to the luggage to be placed; traverse in the Y-axis, Z-axis, and X-axis directions in sequence, so as to achieve the purpose of determining the placement position corresponding to W.

[0053] Further, when determining the placement position corresponding to the luggage to be placed, it is based on the remaining placement space of the current luggage cart and the size of the luggage to be placed, so that the determined placement position of the luggage to be placed is the best placement position for the current luggage cart; due to setting the judgment condition for the luggage to be placed to coincide with the three-dimensional grid, the placement position corresponding to the luggage to be placed fits closely with the already placed luggage, thereby improving the utilization rate of the space of the luggage cart.

[0054] Embodiment Two:

[0055] Based on the method in Embodiment One, if the placement position corresponding to the luggage to be placed cannot be determined, the placement position corresponding to the luggage to be placed can be further determined by the method in this embodiment. The method may include the following steps:

[0056] Q100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be placed corresponding to the luggage to be placed; wherein, QR includes three-dimensional luggage grids corresponding to several already placed luggages.

[0057] In this embodiment, before determining the placement position of the luggage to be placed, it is necessary to identify the already placed luggage on the current luggage cart; the already placed luggage can be identified by means of image recognition or lidar scanning. After identifying the already placed luggage, the already placed luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the already placed luggage; it can be understood that each three-dimensional bounding box represents the already placed luggage in the corresponding space.

[0058] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0059] Q200. According to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0060] Q300. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, then enter Q400; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0061] Q400. If W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; where the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions.

[0062] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to traverse each preset point to be confirmed in QR in sequence, which will not be elaborated here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W each time W moves in Embodiment 1.

[0063] Q500. If after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then enter Q600.

[0064] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked has not been determined; however, at this time, there is still stacking space in the luggage cart. In order to stack the luggage to be stacked into the luggage cart, a secondary traversal is required.

[0065] Q600. According to the preset downgrading rule for stacking conditions, downgrade a number of optimized stacking conditions, and enter Q200.

[0066] Further, the execution status of the necessary stacking conditions is on, and the execution status of the optimized stacking conditions includes on and off.

[0067] In this embodiment, it can be understood that the necessary stacking conditions are the stacking conditions set according to the relevant regulations of civil aviation. For example, the luggage with a smaller volume is placed on top of the luggage with a larger volume, and there will be no situation of throwing the currently to-be-stacked luggage; while the optimized stacking conditions are the optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions need to be met; otherwise, they do not need to be met.

[0068] Step Q600 includes the following steps:

[0069] Q610, set the execution status of all the optimized stacking conditions in the preset stacking conditions to off, and enter Q200.

[0070] In this embodiment, after traversing all the positions in QR, if the stacking position corresponding to the to-be-stacked luggage is not determined, the execution status of all the optimized stacking conditions in the preset stacking conditions is set to off; then enter S200, and traverse each position in QR again to determine the stacking position corresponding to the to-be-stacked luggage.

[0071] Further, step Q600 may include the following steps:

[0072] Q620, obtain each optimized stacking condition to obtain an optimized stacking condition list B = (B 1 , B 2 , …, B j , …, B m ), where j = 1, 2, …, m; among them, B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0073] Q630, determine the priority of each optimized stacking condition according to B to obtain an optimized stacking condition priority list YB = (YB 1 , YB 2 , …, YB j , …, YB m ); among them, 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 .

[0074] Q640, obtain the fourth preset value NM = m.

[0075] Q650, if NM > 0 and the placement position corresponding to the luggage to be placed cannot be determined, then set the execution status of B in B NM to closed; update NM = NM - 1; enter Q200.

[0076] In this embodiment, the priority of any necessary placement condition is greater than that of any optimized placement condition, that is, the necessary placement condition is executed before the optimized placement condition; and the optimized placement condition is also set with an execution priority, and the optimized placement condition with a higher priority is executed before the placement condition with a lower priority.

[0077] It can be understood that after the first traversal, there are various reasons why the placement position of the luggage to be placed cannot be determined. Some positions may not meet the necessary placement conditions, and some positions do not meet the optimized placement conditions; among those that do not meet the optimized placement conditions, some do not meet the optimized placement conditions with a higher priority, and some do not meet the placement conditions with a lower priority. Therefore, in this embodiment, first close the optimized placement condition with the lowest priority, then enter Q200, and traverse each position in QR again. If the placement position corresponding to the luggage to be placed still cannot be determined, then close the optimized placement condition with the second lowest priority until the placement position corresponding to the luggage to be placed is determined.

[0078] Further, after step Q650, the method further includes:

[0079] Q660, if NM ≤ 0 or the placement position corresponding to the luggage to be placed is determined, then jump out of the current process.

[0080] In this embodiment, if NM ≤ 0, it means that all optimized placement conditions have been closed, then jump out of the current process.

[0081] Further, in Q650, every time an optimized placement condition is closed, it is judged whether the closed optimized placement condition was executed during the first traversal. If it was executed, then enter Q200; otherwise, close the next optimized placement condition and judge again whether the closed optimized placement condition was executed during the first traversal.

[0082] Through the above method, it can be determined that during the second traversal, the placement position corresponding to the luggage to be placed can be directly determined, thereby avoiding excessive traversal times and improving the efficiency of determining the placement position corresponding to the luggage to be placed.

[0083] In this embodiment, a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained. According to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed. Among them, the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions. If, after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, according to the preset downgrading rule for the stacking conditions, the number of optimized stacking conditions is downgraded, and then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. In the present invention, since the preset stacking conditions are downgraded, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, and it is easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is a stacking space, it is ensured that the stacking position of the luggage to be stacked can be determined.

[0084] Embodiment Three:

[0085] In Embodiment One, due to the limitations of the necessary stacking conditions and the optimized stacking conditions, it is possible that, on the premise that there is remaining stacking space on the luggage cart, the stacking position corresponding to the luggage to be stacked cannot be determined. Based on this, the following method is provided to further determine the stacking position corresponding to the luggage to be stacked:

[0086] H100, obtain a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be stacked corresponding to the luggage to be stacked; wherein, QR includes three-dimensional luggage grids corresponding to a number of stacked luggages.

[0087] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggages on the current luggage cart; the stacked luggages can be identified by means of image recognition or lidar scanning. After identifying the stacked luggages, the stacked luggages can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggages; it can be understood that each three-dimensional luggage bounding box represents the stacked luggages in the corresponding space.

[0088] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0089] H200, according to the size of W and a preset traversal rule, traverse each preset point to be confirmed in QR in sequence.

[0090] In this embodiment, the method in steps S200 - S620 of Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W each time W moves in Embodiment 1.

[0091] H300. If the stacking position corresponding to the luggage to be stacked cannot be determined from all the points to be confirmed, then each optimized stacking condition is obtained to obtain an optimized stacking condition list B = (B 1 , B 2 , …, B j , …, B m ), where j = 1, 2, …, m; among them, B j is the j-th optimized stacking condition, and m is the number of optimized stacking conditions.

[0092] In this embodiment, due to the setting of the preset stacking conditions, after traversing all positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked has not been determined; however, at this time, there is still stacking space in the luggage cart. In order to stack the luggage to be stacked into the luggage cart, a secondary traversal is required.

[0093] H400. According to B, determine the priority of each optimized stacking condition to obtain an optimized stacking condition priority list YB = (YB 1 , YB 2 , …, YB j , …, YB m ); among them, 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 .

[0094] H500. Obtain a fourth preset value NM = m;

[0095] H600. If NM > 0 and the stacking position corresponding to the luggage to be stacked cannot be determined, then set the execution status of B NM in B to closed; update NM = NM - 1; enter H200.

[0096] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0097] It can be understood that after the first traversal, there are various reasons for failing to determine the stacking position of the luggage to be stacked. Some positions may not meet the necessary stacking conditions, and some positions do not meet the optimized stacking conditions. Among the positions that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with higher priorities, and some do not meet the stacking conditions with lower priorities. Therefore, in this embodiment, first, the optimized stacking condition with the lowest priority is closed, and then H200 is entered to traverse each position in QR again. If the stacking position corresponding to the luggage to be stacked still cannot be determined, the optimized stacking condition with the next lowest priority is closed until the stacking position corresponding to the luggage to be stacked is determined.

[0098] Further, after step H600, the method further includes:

[0099] H700, if NM ≤ 0 or the stacking position corresponding to the luggage to be stacked is determined, then jump out of the current process.

[0100] In this embodiment, if NM ≤ 0, it means that all the optimized stacking conditions have been closed, and then jump out of the current process.

[0101] Further, in H600, every time an optimized stacking condition is closed, it is judged whether the closed optimized stacking condition is executed during the first traversal. If it is executed, enter H200; otherwise, close the next optimized stacking condition and judge again whether the closed optimized stacking condition is executed during the first traversal.

[0102] Further, step H200 includes the following steps:

[0103] H210, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, enter H211; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0104] H211, if W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; where the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

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

[0106] H221, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0107] H222, if NUM 1×ΔL Y <L Y -L W , then enter H223; where L Y is the length of the luggage cart in the Y-axis direction in QR, and L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0108] In H223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0109] In H224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, enter H222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0110] Furthermore, step H222 also includes: if NUM 1 ×ΔL Y ≥L Y -L W , then enter H225.

[0111] In H225, if NUM 2 ×ΔH Z <H Z -H W , then enter H226; otherwise, enter H227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0112] In H226, update NUM 1 = 0, update NUM 2 = NUM 2 + 1, place W at the middle position QE W =(W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ) and enter H222.

[0113] In H227, if NUM 3 ×ΔD X <D X -D W, update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter H222; otherwise, it is determined that the placement position corresponding to the luggage to be placed is not determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0114] Through the above method, it is possible to directly determine the placement position corresponding to the luggage to be placed during the second traversal, thereby avoiding excessive traversal times and improving the efficiency of determining the placement position corresponding to the luggage to be placed.

[0115] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be placed corresponding to the luggage to be placed are obtained; according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in turn; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset placement conditions, the target point to be confirmed is determined as the placement position corresponding to the luggage to be placed; otherwise, the next point to be confirmed is traversed; where the preset placement conditions include several necessary placement conditions and several optimized placement conditions; if after traversing all the preset points to be confirmed, the placement position corresponding to the luggage to be placed cannot be determined, then according to the preset downgrading rule of the placement conditions, several optimized placement conditions are downgraded, and then according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in turn; in the present invention, since the preset placement conditions are downgraded, the conditions for determining the placement position corresponding to the luggage to be placed are relaxed, and it is easier to determine the placement position corresponding to the luggage to be placed. In the case where there is a placement space, it is ensured that the placement position of the luggage to be placed can be determined.

[0116] In this embodiment, a three-dimensional coordinate system QR corresponding to the current luggage cart and a luggage bounding box W corresponding to the luggage to be stacked are obtained. According to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed. Among them, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions. If, after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the preset downgrading rule for the stacking conditions, the several optimized stacking conditions are downgraded, and then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. In the present invention, since the preset stacking conditions are downgraded, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, making it easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is a stacking space, it is ensured that the stacking position of the luggage to be stacked can be determined.

[0117] Embodiment 4:

[0118] In the above-mentioned Embodiment 1, during the second traversal, a full-scale traversal of all positions in QR is performed, and this traversal method has low efficiency. Based on this, the following method is provided to improve the traversal efficiency:

[0119] T100, obtain a three-dimensional coordinate system QR corresponding to the current luggage cart and a luggage bounding box W corresponding to the luggage to be stacked; among them, QR includes several three-dimensional luggage grids corresponding to the stacked luggage.

[0120] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0121] For the luggage to be stacked, the size information of the luggage bounding box corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0122] T200, according to the size of the luggage bounding box corresponding to the luggage to be stacked and the preset traversal rule, traverse each preset point to be confirmed in QR in sequence.

[0123] Further, step T200 may include the following steps:

[0124] T210, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0 and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR

[0125] T220, if NUM 1 ×ΔL Y <L Y -L W , then enter T230; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance

[0126] T230, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions; where the preset stacking conditions include necessary stacking conditions and optimized stacking conditions

[0127] T240, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, enter T220; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked

[0128] Furthermore, step T230 may include the following steps

[0129] T231, if W coincides with at least one of several three-dimensional luggage grids, then traverse the next point to be confirmed; otherwise, enter T232

[0130] T232, if W meets all the necessary stacking conditions, then enter T233; otherwise, traverse the next point to be confirmed

[0131] T233, if W meets all the optimized stacking conditions, then determine the current point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, determine the current point to be confirmed as the specified point to be confirmed

[0132] Furthermore, step T200 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then enter T250

[0133] T250, if NUM 2 ×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.

[0134] T260, update NUM 1 =0, update NUM 2 =NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter T220.

[0135] T270, if NUM 3 ×ΔD X <D X -D W , update NUM 1 =0, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter T220; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0136] In this embodiment, the traversal order is to traverse along the Y-axis direction first. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by ΔH Z , and then continue to traverse along the Y-axis again. If Z-axis NUM 2 ×ΔH Z ≥H Z -H W, it means that the traversal in the Z-axis direction is also completed. At this time, the coordinates of the X-axis need to be changed, and the traversal in the Y-axis direction continues; that is, first traverse in the Y-axis direction, then in the Z-axis direction, and finally in the X-axis direction; it can be understood as a three-layer loop to achieve the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

[0137] Through the above traversal method, when stacking the luggage, the luggage to be stacked will first be stacked against the farther side of the current luggage cart, presenting a shape like a grain pile with a larger bottom and a smaller top, so that when the manipulator stacks the luggage, it will not collide with the stacked luggage and avoid damaging the luggage.

[0138] T300, if all the preset points to be confirmed are traversed and the stacking position corresponding to the luggage to be stacked is not determined, then obtain the specified points to be confirmed to obtain the specified list of points to be confirmed C = (C 1 , C 2 , …, C p , …, C q ), p = 1, 2, …, q; where C p is the p-th specified point to be confirmed obtained, and q is the number of specified points to be confirmed obtained; when W is at the specified point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions and does not meet the preset optimized stacking conditions.

[0139] In this embodiment, when traversing each point to be confirmed in QR for the first time, at a certain point to be confirmed, it is necessary to first judge whether it coincides with the three-dimensional luggage grid, then judge whether it meets the necessary stacking conditions, and finally judge whether it meets the optimized stacking conditions; since there are multiple judgment conditions, therefore, after traversing each point to be confirmed, it is possible that the stacking position corresponding to the luggage to be stacked cannot be determined.

[0140] It should be noted that for each traversed point to be confirmed, the reason for its negation can be recorded, for example: this point to be confirmed does not meet the necessary stacking conditions or does not meet the optimized stacking conditions; therefore, each specified point to be confirmed can be obtained to get C; it can be understood that the number of points to be confirmed in C is less than the total number of points to be confirmed in QR; during the first traversal process, the traversal time of C e is earlier than that of C e+1 , e = 1, 2, …, q - 1.

[0141] T400, set the execution status of all optimized stacking conditions to off.

[0142] In this embodiment, the execution status of the optimized stacking condition can be set to on or off. During the first traversal, the execution status of all optimized stacking conditions is set to on. If the stacking position corresponding to the luggage to be stacked cannot be determined during the first traversal, the execution status of all optimized stacking conditions is set to off. Then, during the second traversal of the specified points to be confirmed in C, the optimized stacking conditions will not be executed, so that the stacking position corresponding to the luggage to be stacked can be determined quickly.

[0143] T500, according to the size of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked, traverse each specified point to be confirmed in C in turn.

[0144] In this embodiment, it should be noted that the first traversal is to traverse each point to be confirmed in QR according to a preset traversal rule, that is, a three-layer loop traversal method; while the second traversal is to traverse each specified point to be confirmed in C, and there is no need to execute the three-layer loop traversal method, only need to traverse each specified point in C one by one, so that the traversal efficiency can be greatly improved.

[0145] T600, if W is located in C p When it does not coincide with any three-dimensional luggage grid and meets the preset necessary stacking conditions, then C p Is determined as the stacking position corresponding to the luggage to be stacked.

[0146] In the method for determining the stacking position of luggage based on secondary iteration in this embodiment, if after traversing each point to be confirmed in the three-dimensional coordinate system corresponding to the current luggage cart, the stacking position corresponding to the luggage to be stacked is not determined, then a specified point to be confirmed is obtained; where when W is located at the specified point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions and does not meet the preset optimized stacking conditions; that is, the specified point to be confirmed is the point to be confirmed that is negated due to not meeting the optimized stacking conditions; then, before the second traversal, the execution status of all optimized stacking conditions is set to off, and during the subsequent second traversal, only the specified points to be confirmed are traversed, so as to ensure that the stacking position corresponding to the luggage to be stacked can be determined while improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0147] Embodiment Five:

[0148] In the above Embodiment One, all optimized stacking conditions are turned off during the second traversal. The stacking position corresponding to the luggage to be stacked determined in this way may not meet many optimized stacking conditions. Based on this, the following method is provided to determine a more appropriate stacking position:

[0149] R100. Obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the unpacked luggage bounding box W of the luggage to be stacked; wherein, QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage.

[0150] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the stacked luggage, the stacked luggage can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0151] For the luggage to be stacked, the size information of the unpacked luggage bounding box corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0152] R200. According to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0153] Further, step R200 may include the following steps:

[0154] R210. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, enter R220; otherwise, traverse the next point to be confirmed; wherein, the target point to be confirmed is any preset point to be confirmed.

[0155] R220. If W meets all the preset stacking conditions, confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; wherein, the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions.

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

[0157] R221. Obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0158] R222. If NUM 1 ×ΔL Y <L Y -L W where L Y is the length of the luggage cart in the Y-axis direction in QR, L Wis the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0159] Further, step R222 may further include: If NUM 1 ×ΔL Y ≥L Y -L W , then enter R225;

[0160] R225, if NUM 2 ×ΔH Z <H Z -H W , then enter R226; otherwise, enter R227; where, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0161] R226, update NUM 1 =0, update NUM 2 =NUM 2 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter R222.

[0162] R227, if NUM 3 ×ΔD X <D X -D W , update NUM 1 =0, update NUM 2 =0, update NUM 3 =NUM 3 +1, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ), and enter R222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where, ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0163] R223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0164] R224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 +1, enter R222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0165] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W each time W moves in Embodiment 1.

[0166] R300, if the stacking position corresponding to the luggage to be stacked is not determined from all the points to be confirmed, then obtain each optimized stacking condition to obtain an optimized stacking condition list B=(B 1 , B 2 , …, B j , …, B m ), j = 1, 2, …, m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0167] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked is not determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked into the luggage cart, multiple iterative traversals are required to determine the stacking position corresponding to the luggage to be stacked.

[0168] It should be noted that the necessary stacking conditions are the stacking conditions set according to relevant civil aviation regulations. For example: smaller luggage is placed on top of larger luggage, and there will be no throwing situation for the currently luggage to be stacked; while the optimized stacking conditions are the optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions need to be met; otherwise, the optimized stacking conditions do not need to be met.

[0169] R400, according to B, determine the priority of each optimized stacking condition to obtain an optimized stacking condition priority list YB=(YB 1 , YB 2 , …, YBj , …, YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2, …, m - 1; B r precedes B r+1 to execute.

[0170] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0171] R500, obtain the fourth preset value NM = m.

[0172] R600, if NM > 0, then obtain the intermediate to-be-confirmed point corresponding to B NM to obtain the NM-th intermediate to-be-confirmed point list D NM =(D NM，1 , D NM，2 , …, D NM，u , …, D NM，f(NM) ), u = 0, 1, …, f(NM); where D NM，u is the u-th intermediate to-be-confirmed point corresponding to B NM , f(NM) is the number of intermediate to-be-confirmed points corresponding to B NM ; the intermediate to-be-confirmed point corresponding to B NM is the to-be-confirmed point that does not satisfy B NM .

[0173] In this embodiment, during the first traversal process, the stacking position corresponding to the luggage to be stacked is not determined, indicating that all to-be-confirmed points are negated; among the negated to-be-confirmed points, some are negated due to not satisfying the necessary stacking condition, and some are negated due to not satisfying the optimized stacking condition; then, for any optimized stacking condition, this stacking condition may correspond to negating multiple to-be-confirmed points, or may not negate any to-be-confirmed point; taking the optimized stacking condition as a dimension, the intermediate to-be-confirmed points corresponding to each optimized stacking condition can be obtained.

[0174] Further, after step R600, the method further includes:

[0175] R610, if NM ≤ 0, then determine that the stacking position corresponding to the luggage to be stacked is not determined, and jump out of the current process.

[0176] In this embodiment, if NM ≤ 0, it means that all optimized stacking conditions are closed. At this time, the stacking position corresponding to the luggage to be stacked cannot be determined, and the current process is exited. Subsequently, the luggage to be stacked can be stacked manually.

[0177] R700, if f(NM) = 0, then update NM = NM - 1 and enter R600; otherwise, set the execution status of B from B NM to B m to closed to obtain the updated optimized stacking condition list B' corresponding to B, and enter R800.

[0178] In this embodiment, first determine whether f(NM) is equal to 0. If f(NM) = 0, it means that no pending confirmation points have been negated due to B NM Then, after closing B NM and then traversing the pending confirmation points, the stacking position corresponding to the luggage to be stacked cannot be determined either; therefore, at this time, the next optimized stacking condition is closed; if f(NM) ≠ 0, then enter R800.

[0179] R800, according to the size of W and B', traverse D NM to obtain the stacking position corresponding to the luggage to be stacked.

[0180] In this embodiment, it can be understood that D NM is the list of the NMth intermediate pending confirmation points obtained by obtaining the intermediate pending confirmation points corresponding to B NM There are only a small number of pending confirmation points in D NM Therefore, the time consumed during traversal is short, thus improving the efficiency of determining the stacking position corresponding to the luggage to be stacked; in addition, the intermediate pending confirmation points in D NM are arranged in the order from the front to the back according to the order during the first traversal.

[0181] In this embodiment, after the first traversal of each pending confirmation point in the three-dimensional coordinate system corresponding to the current luggage cart, if the stacking position corresponding to the luggage to be stacked cannot be determined from all the pending confirmation points, then obtain each optimized stacking condition and the priority corresponding to each optimized stacking condition; according to the priority of each optimized stacking condition, close the optimized stacking conditions in ascending order of priority. For each closed optimized stacking condition, traverse the list of intermediate pending confirmation points corresponding to the optimized stacking condition to determine the stacking position corresponding to the luggage to be stacked.

[0182] Further, in the present invention, the closing process is performed according to the priority of optimizing the stacking conditions. First, the optimizing stacking condition with the lowest priority is closed. The stacking condition with the lowest priority has the least impact on the stacking position of the luggage to be stacked determined. Therefore, the present invention can determine the stacking position corresponding to the luggage to be stacked under the premise of relatively small impact. At the same time, the subsequent traversal is not a full-scale traversal. Therefore, the present invention can also improve the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0183] Embodiment Six:

[0184] Based on the method in Embodiment One, in order to make the determined stacking position more appropriate every time a position is moved, it is also necessary to determine whether there is a situation of throwing luggage when the luggage to be stacked is stacked at this position. Based on this, the following method is provided:

[0185] E100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage bounding box W to be stacked corresponding to the luggage to be stacked; wherein, QR includes a plurality of three-dimensional luggage grids corresponding to the stacked luggage.

[0186] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by means of image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0187] For the luggage to be stacked, the size information of the luggage bounding box to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0188] E200, according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0189] Further, step E200 includes the following steps:

[0190] E221, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0 and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0191] E222, if NUM 1 ×ΔL Y <L Y -L W, then enter E223; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0192] In E223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0193] In E224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 +1, enter E222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0194] Furthermore, step E222 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then enter E225.

[0195] In E225, if NUM 2 ×ΔH Z <H Z -H W , then enter E226; otherwise, enter E227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0196] In E226, update NUM 1 = 0, update NUM 2 = NUM 2 +1, place W at the middle position QE W =(W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ) and enter E222.

[0197] In E227, if NUM 3 ×ΔD X <D X -D W , update NUM 1 = 0, update NUM 2= 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ), enter E222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where, ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0198] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center of W every time W moves in Embodiment 1.

[0199] E300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, enter E400; otherwise, traverse the next point to be confirmed; where, the target point to be confirmed is any preset point to be confirmed.

[0200] In this embodiment, although when W is at the target point to be confirmed, W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, at this time, the bottom surface of W is too high from the luggage stacked below, or the volume of the luggage stacked below is smaller than the volume of the luggage corresponding to W, then, due to the relevant regulations of civil aviation on luggage stacking, this target point to be confirmed cannot be determined as the stacking position corresponding to the luggage to be stacked either.

[0201] E400, move W downward by the fourth preset distance ΔHA.

[0202] E500, if W after moving downward by ΔHA does not coincide with any three-dimensional luggage grid, it is determined that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; otherwise, enter E600.

[0203] In this embodiment, if after moving W downward by the fourth preset distance ΔHA, W does not coincide with any three-dimensional luggage grid, it means that there is no stacked luggage within the distance of ΔHA 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 point to be confirmed, it will cause the current luggage to be dropped, which may damage the current luggage to be stacked.

[0204] E600, determine whether the target point to be confirmed is the stacking position corresponding to the luggage to be stacked according to each three-dimensional luggage grid that coincides with W after moving downward by ΔHA.

[0205] Further, step E600 may include the following steps:

[0206] E610, obtain each three-dimensional luggage grid that coincides with W after moving downward by ΔHA to obtain the first list of three-dimensional luggage grids G = (G 1 , G 2 , …, G a , …, G b ), where a = 1, 2, …, b; among them, G a is the a-th three-dimensional luggage grid that coincides with W after moving downward by ΔHA, and b is the number of three-dimensional luggage grids that coincide with W after moving downward by ΔHA.

[0207] In this embodiment, if after moving W downward by the fourth preset distance ΔHA, it coincides with several three-dimensional luggage grids, it means that there are already stacked luggage within the range of ΔHA below the current luggage to be stacked. At this time, each three-dimensional luggage grid that coincides with W after moving downward by ΔHA can be obtained.

[0208] E620, obtain the projected area of each three-dimensional luggage grid in G on the bottom surface of W to obtain the corresponding projected area list TG of G = (TG 1 , TG 2 , …, TG a , …, TG b ); among them, TG a is the projected area of G a on the bottom surface of W.

[0209] E630, determine the total projected area ZG corresponding to G according to TG = ∑ b a＝1 TG a .

[0210] E640, if ZG / ZW ≥ DE, enter E650; otherwise, determine that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; ZW is the area of the bottom surface of W, and DE is the preset first area ratio threshold, where DE < 1.

[0211] In this embodiment, the value of DE can be set to 0.9, or other values that are relatively close to 1 and equal to 1; if ZG / ZW ≥ DE, it means that the area of the lower surface of the current luggage to be stacked is basically the same as the area of the upper surface of the luggage already stacked below, and it can be considered that the size of the current luggage to be stacked is not greater than the size of the luggage already stacked below, that is, the situation of large luggage pressing on small luggage will not occur, which conforms to the relevant regulations of civil aviation.

[0212] Further, step E650 may include the following steps:

[0213] E651, when W is at the target point to be confirmed, move W a fifth preset distance ΔHB in the preset direction along the Y-axis of QR.

[0214] E652, obtain each three-dimensional luggage grid that coincides with W after moving ΔHB in the preset direction along the Y-axis of QR, so as to obtain a second list of three-dimensional luggage grids F = (F 1 , F 2 , …, F c , …, F d ), where c = 1, 2, …, d; among them, F c is the c-th three-dimensional luggage grid that coincides with W after moving ΔHB in the preset direction along the Y-axis of QR, and d is the number of three-dimensional luggage grids that coincide with W after moving ΔHB in the preset direction along the Y-axis of QR.

[0215] E653, obtain the projected area of each three-dimensional luggage grid in F on the side of W perpendicular to the Y-axis, so as to obtain a list of projected areas TF corresponding to F = (TF 1 , TF 2 , …, TF c , …, TF d ); among them, TF c is the projected area of F c on the side of W perpendicular to the Y-axis.

[0216] E654, according to TF, determine the total projected area ZF corresponding to F = ∑ d c＝1 TF c .

[0217] E655, if ZF / ZW’≥DE’, then determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, determine that the target point to be confirmed is not the stacking position corresponding to the luggage to be stacked; ZW’ is the area of the side of W perpendicular to the Y-axis, and DE’ is a preset second area ratio threshold, and DE’ < 1.

[0218] In this embodiment, during the process of luggage stacking, there will be a situation: two stacked luggages respectively have handles, and the handle parts protrude beyond the overall structure of the luggage. The handle parts also correspond to three-dimensional luggage grids. Then, during the process of traversing the stacking positions corresponding to the current luggage to be stacked, it is possible to determine the stacking position corresponding to the current luggage between the handles of the two stacked luggages, which will cause a relatively large space to be left on both sides of the current luggage, having a certain impact on the subsequent luggage stacking.

[0219] Based on this, by means of the methods in steps E651 - E655, it is possible to determine whether one side of the currently to - be - stacked luggage along the Y - axis direction is adjacent to one side of the already - stacked luggage at the target to - be - confirmed point, rather than adjacent to the handle of the already - stacked luggage. Thus, it is possible to avoid determining the stacking position corresponding to the current luggage between the handles of two already - stacked luggages, which would result in a relatively large space remaining on both sides of the current luggage, causing a certain impact on the subsequent luggage stacking. It can also make the luggage stacking more compact and improve the space utilization rate of the luggage cart.

[0220] In this embodiment, during the process of determining the stacking position corresponding to the currently to - be - stacked luggage, when W is at the target to - be - confirmed point, if W does not coincide with any three - dimensional luggage grid and W meets all the preset stacking conditions, then move W downward by a fourth preset distance ΔHA. If W after moving downward by ΔHA does not coincide with any three - dimensional luggage grid, then it is determined that the target to - be - confirmed point is not the stacking position corresponding to the to - be - stacked luggage; otherwise, according to each three - dimensional luggage grid that coincides with W after moving downward by ΔHA, determine whether the target to - be - confirmed point is the stacking position corresponding to the to - be - stacked luggage; by the above method, it is possible to determine whether the currently to - be - stacked luggage is in a suspended state, thus avoiding the situation where the currently to - be - stacked luggage is dropped and damaged.

[0221] Embodiment Seven:

[0222] Next, with reference to Figure 1 the flowchart of the method for determining the stacking positions of different types of luggage shown below, a method for determining the stacking positions of different types of luggage will be introduced.

[0223] The method for determining the stacking positions of different types of luggage may include the following steps:

[0224] P100, obtain the three - dimensional coordinate system QR corresponding to the current luggage cart and the to - be - stacked luggage bounding box W corresponding to the to - be - stacked luggage; wherein, QR includes several three - dimensional luggage grids corresponding to the already - stacked luggage; the space of the luggage cart includes a lower layer space and an upper layer space, and the lower layer space includes a first sub - space for stacking the first type of luggage and a second sub - space for stacking the second type of luggage; the hardness of the first type of luggage is less than the hardness of the second type of luggage.

[0225] In this embodiment, before determining the stacking position of the to - be - stacked luggage, it is necessary to identify the already - stacked luggage on the current luggage cart; the already - stacked luggage can be identified by means of image recognition or lidar scanning. After identifying the already - stacked luggage, the already - stacked luggage can be segmented to generate several three - dimensional luggage grids containing the point clouds corresponding to the already - stacked luggage; it can be understood that each three - dimensional luggage bounding box represents the already - stacked luggage in the corresponding space.

[0226] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart; the first type of luggage can be understood as a relatively hard suitcase, and the second type of luggage can be understood as a relatively soft soft-sided luggage; when the airport management personnel confirm the type of luggage, they can do it by manually tagging, and subsequently, the luggage type corresponding to each piece of luggage to be stacked can be directly obtained.

[0227] P200, if the luggage to be stacked is the second type of luggage and the first type of luggage has been stacked in the first subspace, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0228] In this embodiment, that the first type of luggage has been stacked in the first subspace means that relatively soft luggage has been stacked in the first subspace, and the second type of luggage, that is, relatively hard luggage, cannot be stacked above the first subspace to prevent the first type of luggage from being damaged.

[0229] Further, step P200 may include the following steps:

[0230] P221, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in QR.

[0231] P222, if NUM 1 ×ΔL Y < L Y -L W , then enter P223; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0232] P223, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0233] P224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM 1 = NUM 1 + 1, and enter P222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0234] Further, step P222 may further include: if NUM 1 ×ΔL Y ≥L Y -L W , then proceed to P225.

[0235] In P225, if NUM 2 ×ΔH Z <H Z -H W , then proceed to E226; otherwise, proceed to E227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0236] In P226, update NUM 1 = 0, update NUM 2 = NUM 2 + 1, place W at the middle position QE W =(W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ), and proceed to P222.

[0237] In P227, if NUM 3 ×ΔD X <D X -D W , update NUM 1 = 0, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W =(W X + NUM 3 ×ΔD X , W Y , W Z + NUM 2 ×ΔH Z ), and proceed to P222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0238] In this embodiment, the method of sequentially traversing each preset point to be confirmed in QR according to the size of W and the preset traversal rule is the same as the method in steps S200 - S620 in Embodiment 1, and will not be elaborated here; the preset points to be confirmed can be the coordinate points corresponding to the center point of W every time W moves in Embodiment 1.

[0239] P300. When W is at the target point to be confirmed, if W does not coincide with any three - dimensional luggage grid and W meets all the preset stacking conditions, then enter P400; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0240] In this embodiment, when W is at the target point to be confirmed, if W does not coincide with any three - dimensional luggage grid and W meets all the preset stacking conditions, it means that the target point to be confirmed meets the preset stacking conditions and may be the stacking position corresponding to the current luggage to be stacked. However, it is still necessary to further determine whether there is a situation where hard luggage presses soft luggage.

[0241] P400. If the target point to be confirmed is not a point to be confirmed above the first subspace, then determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed.

[0242] In this embodiment, the target point to be confirmed is not a point to be confirmed above the first subspace, and the current luggage to be stacked is the second - type luggage, and the first - type luggage has been stacked in the first subspace. At this time, stacking the luggage to be stacked at the target point to be confirmed will not press the first - type luggage.

[0243] Further, after step P400, the method further includes the following steps:

[0244] P500. If the luggage to be stacked is the second - type luggage and the first - type luggage has not been stacked in the first subspace, then sequentially traverse each preset point to be confirmed in QR according to the size of W and the preset traversal rule.

[0245] P510. When W is at the target point to be confirmed, if W does not coincide with any three - dimensional luggage grid and W meets all the preset stacking conditions, then determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0246] In this embodiment, since the first - type luggage has not been stacked in the first subspace, that is, there is no soft luggage stacked in the first subspace, then the stacking position corresponding to the second - type luggage can be any position in the lower layer space and the upper layer space, and will not press the soft luggage.

[0247] Further, after step P400, the method may further include the following steps:

[0248] P600, if the luggage to be stacked is the first type of luggage, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

[0249] P610, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein, the target point to be confirmed is any preset point to be confirmed.

[0250] In this embodiment, when the luggage to be stacked is soft luggage, regardless of whether the first type of luggage is stacked in the first subspace, the luggage to be stacked can be stacked at any position in the luggage cart, and the situation where hard luggage presses soft luggage will not occur; it should be noted that in this embodiment, the first type of luggage can press the first type of luggage, that is, soft luggage can press soft luggage.

[0251] In this embodiment, the space of the luggage cart is divided into a lower layer space and an upper layer space. The lower layer space includes a first subspace for stacking the first type of luggage and a second subspace for stacking 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 stacked is the second type of luggage and the first type of luggage has been stacked in the first subspace, then according to the size of W and the preset traversal rule, each preset point to be confirmed in the three-dimensional coordinate system corresponding to the luggage cart is traversed in sequence; when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, and the target point to be confirmed is not a point to be confirmed above the first subspace, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; by the method in the present invention, it can be ensured that the luggage with a greater hardness will not be stacked on the luggage with a smaller hardness, thereby avoiding the situation where the softer luggage is crushed by the harder luggage.

[0252] Embodiment Eight:

[0253] In Embodiment One, the end condition of the three-layer loop traversal is a preset distance. However, the preset distance may not meet all luggage carts, resulting in the situation that when the luggage to be stacked is at the determined stacking position, it exceeds the stacking space range of the luggage cart. To avoid this situation, the following method is provided:

[0254] F100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked; wherein, QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage.

[0255] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the luggage already stacked on the current luggage cart; the luggage already stacked can be identified by means of image recognition or lidar scanning. After identifying the luggage already stacked, the luggage already stacked can be segmented to generate a number of three-dimensional luggage grids containing the point clouds corresponding to the luggage already stacked; it can be understood that each three-dimensional luggage bounding box represents the luggage already stacked in the corresponding space.

[0256] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained by means of image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the space of the current luggage cart.

[0257] F200, set 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 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.

[0258] In this embodiment, after identifying the luggage, a virtual bounding box is set closely outside the perimeter of 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.

[0259] F300, according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in the QR; wherein, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box, and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked.

[0260] Further, step F300 may include the following steps:

[0261] F310, obtain the first preset value NUM 1 = 0, the second preset value NUM 2 = 0, and the third preset value NUM 3 = 0; and place W at the origin position corresponding to W in the QR.

[0262] In this embodiment, the origin position corresponding to W in the QR is the same as the origin position corresponding to W in Embodiment 1, which will not be elaborated here.

[0263] F320, determine whether W coincides with the virtual bounding box.

[0264] In this embodiment, the virtual bounding box is set with the maximum and minimum X, Y, and Z axis coordinates. The method for determining whether W coincides with the three-dimensional luggage grid in Embodiment 1 can be used to determine whether W coincides with the virtual bounding box, which will not be elaborated here.

[0265] F330, if W does not coincide with the virtual bounding box, then proceed to F340; otherwise, proceed to F350;

[0266] In this embodiment, if W does not coincide with the virtual bounding box, it means that when W is at its current position in QR, it does not exceed the stacking space range of the current luggage cart.

[0267] F340, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then determine the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, move W along the Y-axis direction by ΔL Y ; where, ΔL Y is the first preset distance, and proceed to F320.

[0268] In this embodiment, the method in step F340 is the same as the method in step S500 in Embodiment 1, which will not be elaborated here.

[0269] Further, step F350 includes the following steps:

[0270] F351, if NUM 2 ×ΔH Z <H Z -H W , then update NUM 2 =NUM 2 +1.

[0271] In this embodiment, if NUM 2 ×ΔH Z <H Z -H W , it means that the traversal in the Z-axis direction has not been completed.

[0272] F352, place W at the middle position QE W =(W X +NUM 3 ×ΔD X , W Y , W Z +NUM 2 ×ΔH Z ) and determine whether W coincides with the virtual bounding box; ΔH Z is the second preset distance; ΔD X is the third preset distance.

[0273] For F353, if W does not coincide with the virtual bounding box, go to F340; otherwise, update NUM 2 = 0, update NUM 3 = NUM 3 + 1, place W at the middle position QE W = (W X + NUM 3 × ΔD X , W Y , W Z + NUM 2 × ΔH Z ) and determine whether W coincides with the virtual bounding box.

[0274] For F354, if W does not coincide with the virtual bounding box, go to F340; otherwise, determine that the placement position corresponding to the luggage to be placed has not been determined.

[0275] In this embodiment, it should be noted that for each position movement, it is necessary to first determine whether W coincides with the virtual bounding box to determine whether W exceeds the placement space range of the current luggage cart when in the moved position; it can be understood that in this embodiment, the virtual bounding box is used as the condition for ending the traversal, while in the first embodiment, the preset traversal distance is used as the condition for ending the traversal; and there are multiple luggage carts, and the sizes of each luggage cart are not absolutely the same, there will be slight differences. If the fixed traversal distance is used as the condition for ending the traversal, it may cause the luggage to be placed to exceed the placement space range of the luggage cart when in the determined placement position; in this embodiment, the placement space range of the current luggage cart is recognized visually, and then the corresponding virtual bounding box is set, which can avoid the occurrence of the above problems.

[0276] In this embodiment, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be placed corresponding to the luggage to be placed; wherein, QR includes three-dimensional luggage grids corresponding to several pieces of placed luggage; set a virtual bounding box for the virtual luggage in QR; wherein, the virtual bounding box is located outside the current luggage cart, and the virtual bounding box is adjacent to the four sides of the current luggage cart; the sizes of the adjacent sides of the virtual bounding box and the sides of the current luggage cart are the same; according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR; wherein, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box and W meets all the preset placement conditions, then determine the target point to be confirmed as the placement position corresponding to the luggage to be placed; thus, on the premise of ensuring not exceeding the space range of the luggage cart, determine the placement position corresponding to the luggage to be placed.

[0277] Further, the stacking position corresponding to the luggage to be stacked is determined based on the stacked luggage corresponding to the current luggage cart and the size of the luggage to be stacked. Therefore, the determined stacking position corresponding to the luggage to be stacked better conforms to the remaining stacking space of the current luggage cart, making the stacking of the luggage more compact and orderly, and improving the space utilization rate of the luggage cart.

[0278] In addition, although the steps of the methods in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0279] Embodiments of the present invention also provide a non-transitory computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one segment of a program related to a method in a method embodiment. The at least one instruction or the at least one segment of the program is loaded and executed by the processor to implement the method provided in the above embodiments.

[0280] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0281] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program used by or in conjunction with an instruction execution system, apparatus, or device.

[0282] The program code contained on the readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0283] The program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0284] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0285] The electronic device is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of this application.

[0286] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: at least one of the aforementioned processors, at least one of the aforementioned memories, and a bus connecting different system components (including the memory and the processor).

[0287] Among them, the memory stores program code, and the program code can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0288] The memory may include a readable medium in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0289] The memory may also include a program / utility having a set (at least one) of program modules. Such program modules include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0290] The bus may represent one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure in a variety of bus structures.

[0291] 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 communicate with any device that enables the electronic device to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface. Moreover, the electronic device can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in combination with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0292] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0293] An embodiment of the present invention also provides a computer program product, which includes program code. When the program product runs on an electronic device, the program code is used to enable the electronic device to execute the steps in the methods according to various exemplary embodiments of the present invention described above in this specification.

[0294] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A method for determining the stacking positions of different types of luggage, characterized in that: The method comprises the following steps: P100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked; wherein QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage; the space of the luggage cart includes a lower space and an upper space, the lower space includes a first subspace for stacking the first type of luggage and a second subspace for stacking the second type of luggage; the hardness of the first type of luggage is less than the hardness of the second type of luggage; P200: If the baggage to be stacked is the second type of baggage and the first type of baggage has been stacked in the first subspace, then traverse each preset point to be confirmed in QR in turn according to the size of W and the preset traversal rules; P300, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, then enter P400; otherwise, traverse the next point to be confirmed; wherein the target point to be confirmed is any preset point to be confirmed; P400, if the target to-be-confirmed point is not a to-be-confirmed point located above the first subspace, the target to-be-confirmed point is determined as the stacking position corresponding to the to-be-confirmed luggage; otherwise, the next to-be-confirmed point is traversed.

2. The method for determining the stacking positions of different types of luggage according to claim 1, characterized in that: After step P400, the method further comprises the following steps: P500: If the baggage to be stacked is the second type of baggage and there is no first type of baggage stacked in the first subspace, then traverse each preset point to be confirmed in QR in turn according to the size of W and the preset traversal rule; P510, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the baggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein the target point to be confirmed is any preset point to be confirmed.

3. The method for determining the stacking positions of different types of luggage according to claim 1, characterized in that: After step P400, the method further comprises the following steps: P600: If the baggage to be stacked is the first type of baggage, then traverse each preset point to be confirmed in QR in turn according to the size of W and the preset traversal rules; P610, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the baggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein the target point to be confirmed is any preset point to be confirmed.

4. The method for determining the stacking positions of different types of luggage according to claim 1, characterized in that: Step P200 includes the following steps: P221, obtain the first preset value NUM1=0, the second preset value NUM2=0 and the third preset value NUM3=0; and place W at the origin position corresponding to W in QR; P222, if NUM1×ΔL Y <L Y -L W , then enter P223; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is a first preset distance; P223, determine whether W coincides with at least one of the three-dimensional luggage grids, and determine whether W satisfies all preset stacking conditions; P224: If W coincides with at least one of the three-dimensional luggage grids or W does not satisfy at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1, and enter P222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

5. The method for determining the stacking positions of different types of luggage according to claim 4, characterized in that: W corresponds to the origin position QR in QR W =(W X , W Y , W Z ), where W X is the X-axis coordinate of the origin position corresponding to W in QR, W Y is the Y-axis coordinate of the origin position corresponding to W in QR, W Z is the Z-axis coordinate of the origin position corresponding to W in QR; W X =L W / 2;W Y =D W / 2;W Z =H W / 2;D W is the width of W in the X-axis direction, H W is the height of W in the Z-axis direction.

6. The method for determining the stacking positions of different types of luggage according to claim 5, characterized in that: Step P222 also includes: if NUM1×ΔL Y ≥L Y -L W , then go to P225; P225, if NUM2×ΔH Z <H Z -H W , then go to E226; otherwise, go to E227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction of QR; P226, update NUM1 = 0, update NUM2 = NUM2 + 1, put W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter P222; P227, 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 P222; 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; D X is the width of the luggage cart in the X-axis direction in QR.

7. The method for determining the stacking positions of different types of luggage according to claim 6, characterized in that: ΔL Y =ΔH Z =ΔD X =20mm。 8. A non-transitory computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, characterized in that: The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for determining the stacking positions of different types of luggage as described in any one of claims 1 to 7.

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

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