Baggage stacking location determination method, device and storage medium based on multiple iterations

Abstract

The present invention provides a method, device, and storage medium for determining luggage stacking positions based on multiple iterations, and relates to the technical field of luggage stacking position determination. The method comprises: after first traversing each to-be-confirmed point in a three-dimensional coordinate system corresponding to a current luggage cart, if no stacking position corresponding to the to-be-confirmed luggage is determined from all the to-be-confirmed points, obtaining each optimized stacking condition and the priority corresponding to each optimized stacking condition; based on the priority of each optimized stacking condition, disabling the optimized stacking condition in ascending order of priority; and for each optimized stacking condition that is disabled, traversing a list of intermediate to-be-confirmed points corresponding to the optimized stacking condition to determine the stacking position corresponding to the to-be-confirmed luggage. The present invention can ensure that the stacking position corresponding to the to-be-confirmed luggage is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of luggage stacking position determination, and in particular to a luggage stacking position determination method, device and storage medium based on multiple iterations. Background Art

[0002] In the civil aviation sector, baggage handling is a major challenge for the modern aviation industry. As airport passenger traffic continues to grow, the amount of luggage carried by passengers is also increasing. To improve baggage handling efficiency, some airports use automated baggage handling equipment to move luggage from conveyor belts to baggage carts, which are then transported to the corresponding aircraft for loading and check-in. Before stacking the baggage, the corresponding stacking location on the baggage cart must be determined. This determination is based on several pre-set stacking conditions. However, due to the existence of these conditions, the stacking location of the baggage may not be determined even when there is stacking space. To determine the stacking location of the baggage, some stacking conditions are often downgraded, and then all pre-set stacking locations are traversed again. Due to the long time required for traversal, the efficiency of determining the stacking location of the baggage is low. Summary of the Invention

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

[0004] According to a first aspect of the present application, a method for determining a luggage stacking location based on multiple iterations is provided, the method comprising the following steps:

[0005] R100, 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.

[0006] R200, according to the size of W and the preset traversal rules, traverses each preset point to be confirmed in QR in turn.

[0007] R300, if the stacking location 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 = (B1, B2, ..., B j ,…,B m ), j = 1, 2, ..., m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0008] R400, according to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j,…,YB m ); among them, YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement.

[0009] R500: Obtain a fourth preset value NM=m.

[0010] R600, if NM>0, then get B NM The corresponding intermediate points to be confirmed are used to obtain the NMth intermediate points to be confirmed 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 B NM The corresponding u-th intermediate point to be confirmed, f(NM) is B NM The number of corresponding intermediate points to be confirmed; B NM The corresponding intermediate point to be confirmed is not satisfied with B NM Points to be confirmed.

[0011] R700, if f(NM)=0, then update NM=NM-1 and enter R600; otherwise, change B in B NM To B m The execution status of is set to closed to obtain the updated optimized stacking condition list B' corresponding to B and enter R800.

[0012] R800, according to the size of W and B', for D NM Traverse to obtain the stacking location corresponding to the luggage to be stacked.

[0013] According to another aspect of the present application, a non-transitory computer-readable storage medium is provided, wherein the storage medium stores at least one instruction or at least one program segment, and the at least one instruction or at least one program segment is loaded and executed by a processor to implement the above-mentioned method for determining luggage stacking positions based on multiple iterations.

[0014] According to another aspect of the present application, an electronic device is provided, including a processor and the above-mentioned non-transitory computer-readable storage medium.

[0015] The present invention has at least the following beneficial effects:

[0016] The baggage stacking position determination method based on multiple iterations of the present invention first traverses each pending point in the three-dimensional coordinate system corresponding to the current baggage cart. If the stacking position corresponding to the baggage to be stacked is not determined from all the pending points, each optimized stacking condition and the priority corresponding to each optimized stacking condition are obtained. Based on the priority of each optimized stacking condition, the optimized stacking conditions are closed in ascending order of priority. Each time an optimized stacking condition is closed, the list of intermediate pending points corresponding to the optimized stacking condition is traversed to determine the stacking position corresponding to the baggage to be stacked.

[0017] Furthermore, the present invention performs closing processing based on the priority of the optimized stacking conditions. The optimized stacking condition with the lowest priority is closed first. The stacking condition with the lowest priority has the smallest impact on the determined stacking position of the luggage to be stacked. Therefore, the present invention can determine the stacking position corresponding to the luggage to be stacked with minimal impact. At the same time, the subsequent traversal is not a full traversal. Therefore, the present invention can also improve the efficiency of determining the stacking position corresponding to the luggage to be stacked. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a flowchart of a luggage stacking location determination method based on multiple iterations provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] It should be noted that, based on this disclosure, those skilled in the art will appreciate that an aspect described herein can be implemented independently of any other aspect, and that two or more of these aspects can be combined in various ways. For example, any number of the aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement such an apparatus and / or practice such a method.

[0022] Example 1:

[0023] In this embodiment, a method for determining a stacking location of luggage to be stacked is provided. The method may include the following steps:

[0024] S100: Obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR. Y , width D in the X-axis direction X and the height H in the Z-axis direction Z Among them, QR includes several three-dimensional luggage grids corresponding to the stacked luggage, and each three-dimensional luggage grid corresponds to the position coordinates and size information.

[0025] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0026] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0027] Furthermore, the luggage to be stacked is received by a preset manipulator; wherein, when the preset manipulator places the luggage to be stacked, the direction of the manipulator is perpendicular to the side wall of the Y luggage cart in the Y-axis direction in QR.

[0028] Based on the above setting of the robot orientation, in the subsequent process of determining the stacking position, traversal is first performed along the Y-axis direction to achieve more convenient stacking of luggage and avoid collision with stacked luggage.

[0029] S200 , obtaining a first preset value NUM1=0, and placing W at the origin position corresponding to W in QR.

[0030] In this embodiment, the position of the baggage to be stacked is determined based on the stack shape of the baggage already stacked on the current baggage cart. Therefore, after each baggage to be stacked is stacked, the three-dimensional coordinate system corresponding to the current baggage cart needs to be re-acquired. Then, W is placed at the origin corresponding to W in QR to determine the optimal stacking position for the current baggage to be stacked based on the stack shape corresponding to the current baggage cart.

[0031] Furthermore, the origin position QR corresponding to W 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.

[0032] In this embodiment, W is placed at the origin position QR corresponding to W in QR W When the center point of W is W coincide; it can be understood that the size of W is different, and the corresponding W in QR corresponds to the origin position QR W It is also different. When W is at the origin, one vertex of W coincides with the origin of the coordinate system of QR. Therefore, W can start traversing from a bottom vertex of the current luggage cart.

[0033] S300, if NUM1×ΔL Y <L Y -L W , then enter S400; where L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0034] Furthermore, if NUM1×ΔL Y ≥L Y -L W , then obtain the second preset value NUM2=0 and the third preset value NUM3=0, and enter S600.

[0035] S600, if NUM2×ΔH Z <H Z -H W , then go to S610; otherwise, go to S620; where ΔH Z is the second preset distance.

[0036] S610, update NUM1=0, update NUM2=NUM2+1, and place W in the middle position QE W =(W X+NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter S300.

[0037] S620, if NUM3×ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ), enter S300; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; wherein, ΔD X The third preset distance.

[0038] Furthermore, ΔL can be set Y =ΔH Z =ΔD X =20mm; under this parameter setting, it can ensure that the luggage is stacked more compactly while maintaining high traversal efficiency, thereby improving the space utilization of the luggage cart.

[0039] In this embodiment, the order of traversal is to traverse along the Y axis first. When the coordinates corresponding to the Z axis and the Y axis remain unchanged, if the traversal along the Y axis is completed, the coordinate of the Z axis is increased by ΔH. Z , and then continue to traverse along the Y axis, if the Z axis NUM2×ΔH Z ≥H Z -H W , it means that the traversal along the Z axis is also completed. At this time, the coordinate of the X axis needs to be changed and the traversal along the Y axis needs to be continued. That is, traverse along the Y axis first, then along the Z axis, and finally along the X axis. It can be understood as a three-layer loop to achieve traversal of the entire current luggage cart space. The effect of this traversal method is as follows:

[0040] Through the above traversal method, when stacking luggage, the luggage to be stacked will first be placed close to the side farther away from the current luggage cart, forming a valley pile shape with a larger bottom and a smaller top. This prevents the robot arm from colliding with the already stacked luggage when stacking the luggage, thus preventing the luggage from being damaged.

[0041] S400: Determine whether W overlaps with at least one of a plurality of three-dimensional luggage grids, and determine whether W meets all preset stacking conditions.

[0042] In this embodiment, when W is at any position, it is necessary to determine whether W will collide with other stacked luggage at that position and whether all other preset stacking conditions are met. It can be understood that if W overlaps with at least one of the three-dimensional luggage grids, it means that W will collide with the stacked luggage at that position.

[0043] Furthermore, determining whether W coincides with at least one of the three-dimensional luggage grids may include the following steps:

[0044] S410, obtaining the minimum and maximum X-axis coordinates, the minimum and maximum Y-axis coordinates, and the minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR, to obtain a list of the minimum and maximum coordinates of the three-dimensional luggage grid A = (A1, A2, ..., A i ,…,A n ), i=1, 2,..., n; among them, A i is the minimum and maximum coordinate list of the i-th three-dimensional luggage grid, n is the number of three-dimensional luggage grids; A i =(A i，X _min, A i，X _max, A i，Y _min, A i，Y _max, A i，Z _min, A i，Z _max); A i，X _min and A i，X _max are the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid, A i，Y _min and A i，Y _max are the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid, A i，Z _min and A i，Z _max are the minimum and maximum Z-axis coordinates of the i-th three-dimensional luggage grid.

[0045] In this embodiment, each 3D luggage grid in the QR has corresponding coordinates of each vertex, and the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each 3D luggage grid in the QR can be obtained.

[0046] S420, obtain the minimum X-axis coordinate W of W in QR min，X , maximum X-axis coordinate W max，X , minimum Y-axis coordinate W min，Y , maximum Y-axis coordinate W max，Y , minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0047] Similarly, when W is at different positions in QR, the corresponding minimum X-axis coordinate W can also be obtained. min，X , maximum X-axis coordinate W max，X , minimum Y-axis coordinate W min，Y , maximum Y-axis coordinate W max，Y , minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0048] S430, traverse A, if A i The X-axis coordinate interval [A i，X _min, A i，X _max] and the X-axis coordinate range of W [W min，X , W max，X ] There is overlap, A i The Y-axis coordinate interval [A i，Y _min, A i，Y _max] and the Y-axis coordinate interval of W [W min，Y , W max，Y ] There is overlap and A i The Z-axis coordinate interval [A i，Z _min, A i，Z _max] and the Z-axis coordinate range of W [W min，Z , W max，Z ] If there is an overlap, it is determined that W overlaps with at least one of the three-dimensional luggage grids.

[0049] In this embodiment, the above steps can determine whether W will collide with stacked luggage when it is at a certain position in the QR. If W will not collide with stacked luggage when it is at a certain position in the QR, it is also necessary to determine whether W meets all preset stacking conditions at that position. The preset stacking conditions are set according to relevant civil aviation regulations. For example, the preset stacking conditions may include that small luggage is placed on top of large luggage, and that the currently stacked luggage will not be thrown.

[0050] S500: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1, and enter S300; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0051] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in the QR, the stacking position corresponding to the luggage to be stacked may not be determined. In order to stack the luggage to be stacked into the luggage cart, a second traversal is required.

[0052] Furthermore, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; wherein the execution state of the necessary stacking conditions is on, and the execution state of the optimized stacking conditions includes on and off.

[0053] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to relevant civil aviation regulations, for example: small luggage is placed on top of large luggage, and the currently stacked luggage will not be thrown; and the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to ensure that the luggage is stacked neatly. The execution status of the optimized stacking conditions can be set to be 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.

[0054] After step S620, the method may further include the following steps:

[0055] S700: If the stacking position corresponding to the luggage to be stacked is not determined, the execution status of all optimized stacking conditions in the preset stacking conditions is set to off, and the process goes to S200.

[0056] In this embodiment, after traversing all positions in the QR, if the stacking position corresponding to the luggage to be stacked is not determined, the execution status of all optimized stacking conditions in the preset stacking conditions is set to off; then the process proceeds to S200, and each position in the QR is traversed again to determine the stacking position corresponding to the luggage to be stacked.

[0057] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR are obtained. Y , width D in the X-axis direction X and the height H in the Z-axis direction Z , then according to the size of W along the Y axis with a step size of ΔL Y Traverse the space along the Y axis of the current baggage cart. If W does not overlap with any three-dimensional baggage grids and meets all preset stacking conditions, the current position of W is determined as the stacking position corresponding to the baggage to be stacked. Traverse along the Y axis, Z axis, and X axis in sequence to determine the stacking position corresponding to W.

[0058] Furthermore, when determining the stacking position corresponding to the luggage to be stacked, the remaining stacking space on the current luggage cart and the size of the luggage to be stacked are used as the basis, so that the determined stacking position of the luggage to be stacked is the optimal stacking position for the current luggage cart. Since the judgment condition of the luggage to be stacked overlapping with the three-dimensional grid is set, the stacking position corresponding to the luggage to be stacked is closely aligned with the luggage already stacked, thereby improving the utilization rate of the luggage cart space.

[0059] Example 2:

[0060] Based on the method in Example 1, if the stacking location corresponding to the luggage to be stacked cannot be determined, the method in this embodiment can be used to further determine the stacking location corresponding to the luggage to be stacked. The method may include the following steps:

[0061] Q100, 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 the three-dimensional luggage grids corresponding to the stacked luggage.

[0062] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0063] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0064] Q200, according to the size of W and the preset traversal rules, traverses each preset point to be confirmed in QR in turn.

[0065] Q300: When W is at the target pending confirmation point, if W does not overlap with any three-dimensional luggage grid, then enter Q400; otherwise, traverse to the next pending confirmation point; wherein the target pending confirmation point is any preset pending confirmation point.

[0066] Q400, if W satisfies all preset stacking conditions, the target pending confirmation point is confirmed as the stacking location corresponding to the luggage to be stacked; otherwise, the next pending confirmation point is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0067] 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 is not described in detail here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in embodiment 1.

[0068] Q500: If all preset points to be confirmed are traversed and the corresponding stacking position of the luggage to be stacked cannot be determined, then enter Q600.

[0069] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in the QR, the stacking position corresponding to the luggage to be stacked may not be determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked in the luggage cart, a second traversal is required.

[0070] Q600: According to the preset stacking condition degradation rules, several optimized stacking conditions are downgraded and the process enters Q200.

[0071] Furthermore, the execution state of the necessary stacking condition is on, and the execution state of the optimized stacking condition includes on and off.

[0072] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to relevant civil aviation regulations, for example: small luggage is placed on top of large luggage, and the currently stacked luggage will not be thrown; and the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to ensure that the luggage is stacked neatly. The execution status of the optimized stacking conditions can be set to be 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.

[0073] Step Q600 includes the following steps:

[0074] Q610: Set the execution status of all optimized stacking conditions in the preset stacking conditions to off and enter Q200.

[0075] In this embodiment, after traversing all positions in the QR, if the stacking position corresponding to the luggage to be stacked is not determined, the execution status of all optimized stacking conditions in the preset stacking conditions is set to off; then the process proceeds to S200, and each position in the QR is traversed again to determine the stacking position corresponding to the luggage to be stacked.

[0076] Furthermore, step Q600 may include the following steps:

[0077] Q620, obtain each optimized stacking condition to obtain an optimized stacking condition list B = (B1, B2, ..., B j,…,B m ), j = 1, 2, ..., m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0078] Q630, based on B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j ,…,YB m ); among them, YB j B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement.

[0079] Q640, obtain a fourth preset value NM=m.

[0080] Q650, if NM>0 and the stacking location of the baggage to be stacked cannot be determined, then B in B NM The execution status is set to closed; update NM=NM-1; enter Q200.

[0081] 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 larger priority is executed before the stacking condition with a smaller priority.

[0082] It is understandable that after the first round of traversal, there are various reasons why the stacking location of the luggage to be stacked cannot be determined. Some locations may not meet the necessary stacking conditions, while others may not meet the optimized stacking conditions. Among the locations that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with higher priorities, while others do not meet the stacking conditions with lower priorities. Therefore, in this embodiment, the optimized stacking condition with the lowest priority is first disabled, and then the process proceeds to Q200 to re-traverse each location in QR. If the stacking location corresponding to the luggage to be stacked still cannot be determined, the optimized stacking conditions with lower priorities are disabled again until the stacking location corresponding to the luggage to be stacked is determined.

[0083] Furthermore, after step Q650, the method further includes:

[0084] Q660: If NM≤0 or the stacking location corresponding to the luggage to be stacked is determined, then exit the current process.

[0085] In this embodiment, if NM≤0, it means that all optimized stacking conditions are closed, and the current process is exited.

[0086] Furthermore, in Q650, each time an optimized stacking condition is closed, it is determined whether the closed optimized stacking condition is executed during the first traversal process. If it is executed, enter Q200; otherwise, the next optimized stacking condition is closed, and it is determined again whether the closed optimized stacking condition is executed during the first traversal process.

[0087] Through the above method, it is possible to determine directly the stacking position corresponding to the luggage to be stacked during the secondary traversal process, thereby avoiding excessive traversal times and improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0088] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained; according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if all the points to be confirmed are traversed, If the stacking position corresponding to the luggage to be stacked cannot be determined at the preset points to be confirmed, the plurality of optimized stacking conditions are downgraded according to the preset stacking condition degradation rules, and then each preset point to be confirmed in QR is traversed in sequence according to the size of W and the preset traversal rules. In the present invention, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed due to the downgrading of the preset stacking conditions, making it easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is stacking space, the stacking position of the luggage to be stacked can be determined.

[0089] Example 3:

[0090] In the first embodiment, due to the limitations of necessary and optimized stacking conditions, it is possible that even if there is remaining stacking space on the luggage cart, it is impossible to determine the stacking location corresponding to the luggage to be stacked. Therefore, the following method is provided to further determine the stacking location corresponding to the luggage to be stacked:

[0091] H100, 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.

[0092] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0093] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0094] H200, according to the size of W and the preset traversal rules, traverse each preset point to be confirmed in QR in turn.

[0095] 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 is not described in detail here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in embodiment 1.

[0096] H300, if the stacking location corresponding to the luggage to be stacked is not determined from all the points to be confirmed, obtain each optimized stacking condition to obtain an optimized stacking condition list B = (B1, B2, ..., B j ,…,B m ), j = 1, 2, ..., m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0097] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in the QR, the stacking position corresponding to the luggage to be stacked may not be determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked in the luggage cart, a second traversal is required.

[0098] H400, according to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j ,…,YB m ); among them, YB j B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement;

[0099] H500, obtain a fourth preset value NM=m;

[0100] H600, if NM>0 and the stacking location of the baggage to be stacked cannot be determined, then B in B NM The execution status is set to closed; update NM=NM-1; enter H200.

[0101] 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 larger priority is executed before the stacking condition with a smaller priority.

[0102] It is understandable that after the first traversal, there are various reasons why the stacking location of the luggage to be stacked cannot be determined. Some locations may not meet the necessary stacking conditions, while others may not meet the optimized stacking conditions. Among the locations that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with higher priorities, while others do not meet the stacking conditions with lower priorities. Therefore, in this embodiment, the optimized stacking condition with the lowest priority is first disabled, and then H200 is entered to re-traverse each location in QR. If the stacking location corresponding to the luggage to be stacked still cannot be determined, the optimized stacking conditions with lower priorities are disabled again until the stacking location corresponding to the luggage to be stacked is determined.

[0103] Furthermore, after step H600, the method further includes:

[0104] H700: If NM≤0 or the stacking location corresponding to the luggage to be stacked is determined, then exit the current process.

[0105] In this embodiment, if NM≤0, it means that all optimized stacking conditions are closed, and the current process is exited.

[0106] Furthermore, in H600, each time an optimized stacking condition is closed, it is determined whether the closed optimized stacking condition is executed during the first traversal process. If it is executed, enter H200; otherwise, the next optimized stacking condition is closed, and it is determined again whether the closed optimized stacking condition is executed during the first traversal process.

[0107] Furthermore, step H200 includes the following steps:

[0108] H210, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid, then enter H211; otherwise, traverse to the next point to be confirmed; wherein the target point to be confirmed is any preset point to be confirmed.

[0109] H211, if W meets all preset stacking conditions, the target pending confirmation point is confirmed as the stacking location corresponding to the luggage to be stacked; otherwise, the next pending confirmation point is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0110] Furthermore, step H200 includes the following steps:

[0111] H221, 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.

[0112] H222, if NUM1×ΔL Y <L Y -L W , then enter H223; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0113] H223, determine whether W overlaps with at least one of the three-dimensional luggage grids, and determine whether W meets all preset stacking conditions.

[0114] H224: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1 and enter H222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0115] Furthermore, step H222 also includes: if NUM1×ΔL Y ≥L Y -L W , then enter H225.

[0116] H225, if NUM2×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.

[0117] H226, update NUM1 = 0, update NUM2 = NUM2 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y, W Z +NUM2×ΔH Z ) and enter H222.

[0118] H227, 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 H222; 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.

[0119] Through the above method, it is possible to determine directly the stacking position corresponding to the luggage to be stacked during the secondary traversal process, thereby avoiding excessive traversal times and improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0120] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained; according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if all the points to be confirmed are traversed, If the stacking position corresponding to the luggage to be stacked cannot be determined at the preset points to be confirmed, the plurality of optimized stacking conditions are downgraded according to the preset stacking condition degradation rules, and then each preset point to be confirmed in QR is traversed in sequence according to the size of W and the preset traversal rules. In the present invention, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed due to the downgrading of the preset stacking conditions, making it easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is stacking space, the stacking position of the luggage to be stacked can be determined.

[0121] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked corresponding to the luggage to be stacked are obtained; according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; when W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if all the points to be confirmed are traversed, If the stacking position corresponding to the luggage to be stacked cannot be determined at the preset points to be confirmed, the plurality of optimized stacking conditions are downgraded according to the preset stacking condition degradation rules, and then each preset point to be confirmed in QR is traversed in sequence according to the size of W and the preset traversal rules. In the present invention, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed due to the downgrading of the preset stacking conditions, making it easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is stacking space, the stacking position of the luggage to be stacked can be determined.

[0122] Example 4:

[0123] In the first embodiment above, the second traversal is a full traversal of all positions in the QR. This traversal method is inefficient. Based on this, the following method is provided to improve the traversal efficiency:

[0124] T100: Obtain a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W corresponding to the luggage to be stacked. QR includes three-dimensional luggage grids corresponding to several stacked luggage.

[0125] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0126] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0127] T200, based on the size of the bounding box of the luggage to be stacked and the preset traversal rules, traverse each preset point to be confirmed in the QR in sequence.

[0128] Furthermore, step T200 may include the following steps:

[0129] T210 , obtaining a first preset value NUM1=0, a second preset value NUM2=0, and a third preset value NUM3=0; and placing W at the origin position corresponding to W in QR.

[0130] T220, if NUM1×ΔL Y <L Y -L W , then enter T230; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0131] T230: Determine whether W overlaps with at least one of the three-dimensional luggage grids, and determine whether W meets all preset stacking conditions; wherein the preset stacking conditions include necessary stacking conditions and optimized stacking conditions.

[0132] T240: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1 and enter T220; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0133] Furthermore, step T230 may include the following steps:

[0134] T231: If W coincides with at least one of the three-dimensional luggage grids, proceed to the next point to be confirmed; otherwise, proceed to T232.

[0135] T232: If W meets all necessary stacking conditions, proceed to T233; otherwise, proceed to the next point to be confirmed.

[0136] T233: If W satisfies all the optimized stacking conditions, the current pending confirmation point is determined as the stacking location corresponding to the luggage to be stacked; otherwise, the current pending confirmation point is determined as the designated pending confirmation point.

[0137] Furthermore, step T200 may further include: if NUM1×ΔL Y ≥L Y -L W , then enter T250.

[0138] T250, if NUM2×ΔH Z <H Z -H W , then enter T260; otherwise, enter T270; where ΔH Zis the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0139] T260, update NUM1=0, update NUM2=NUM2+1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter T220.

[0140] T270, if NUM3×ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ), enter T220; 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.

[0141] In this embodiment, the order of traversal is to traverse along the Y axis first. When the coordinates corresponding to the Z axis and the Y axis remain unchanged, if the traversal along the Y axis is completed, the coordinate of the Z axis is increased by ΔH. Z , and then continue to traverse along the Y axis, if the Z axis NUM2×ΔH Z ≥H Z -H W , it means that the traversal along the Z axis is also completed. At this time, the coordinate of the X axis needs to be changed and the traversal along the Y axis needs to be continued. That is, traverse along the Y axis first, then along the Z axis, and finally along the X axis. It can be understood as a three-layer loop to achieve traversal of the entire current luggage cart space. The effect of this traversal method is as follows:

[0142] Through the above traversal method, when stacking luggage, the luggage to be stacked will first be placed close to the side farther away from the current luggage cart, forming a valley pile shape with a larger bottom and a smaller top. This prevents the robot arm from colliding with the already stacked luggage when stacking the luggage, thus preventing the luggage from being damaged.

[0143] T300, if all preset points to be confirmed are traversed and the stacking position corresponding to the luggage to be stacked is not determined, then the designated points to be confirmed are obtained to obtain a list of designated points to be confirmed C = (C1, C2, ..., C p ,…,C q ), p=1, 2, ..., q; where C p is the pth designated point to be confirmed obtained, q is the number of designated points to be confirmed obtained; when W is located at a designated point to be confirmed, it does not overlap with any three-dimensional baggage grid, meets the preset necessary stacking conditions, and does not meet the preset optimized stacking conditions.

[0144] In this embodiment, when traversing each pending confirmation point in the QR for the first time, at a certain pending confirmation point, it is necessary to first determine whether it overlaps with the three-dimensional baggage grid, then determine whether it meets the necessary stacking conditions, and finally determine whether it meets the optimized stacking conditions. Due to the existence of multiple judgment conditions, it is possible that after traversing each pending confirmation point, the stacking position corresponding to the baggage to be stacked may not be determined.

[0145] It should be noted that each time a point to be confirmed is traversed, the reason why the point to be confirmed is rejected can be recorded, for example: the point to be confirmed does not meet the necessary stacking conditions or the optimized stacking conditions; therefore, each specified point to be confirmed can be obtained to obtain 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; in the first traversal process, C e The traversal time is earlier than C e+1 The traversal time is e=1, 2,…, q-1.

[0146] T400, set the execution status of all optimized stacking conditions to off.

[0147] In this embodiment, the execution status of the optimized stacking conditions can be set to on or off. During the first traversal, the execution status of all optimized stacking conditions is set to on. If the first traversal fails to determine the stacking location corresponding to the luggage to be stacked, the execution status of all optimized stacking conditions is set to off. Then, during the second traversal of the designated to-be-confirmed points in C, the optimized stacking conditions will not be executed, thereby enabling the stacking location corresponding to the luggage to be stacked to be quickly determined.

[0148] T500, traverse each designated point to be confirmed in C in sequence according to the size of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked.

[0149] In this embodiment, it should be noted that the first traversal is based on the preset traversal rules, that is, the three-layer loop traversal method is used to traverse each point to be confirmed in QR; and the second traversal is to traverse each designated point to be confirmed in C. There is no need to execute the three-layer loop traversal method, and it is only necessary to traverse each designated point to be confirmed in C one by one, which can greatly improve the traversal efficiency.

[0150] T600, if W is located at C p When it does not overlap with any three-dimensional luggage grid and meets the necessary preset stacking conditions, C p Determine the stacking location corresponding to the luggage to be stacked.

[0151] In the luggage stacking position determination method based on secondary iteration of this embodiment, if the stacking position corresponding to the luggage to be stacked is not determined after traversing each unconfirmed point in the three-dimensional coordinate system corresponding to the current luggage cart, a designated unconfirmed point is obtained. When W is located at the designated unconfirmed point, it does not overlap with any three-dimensional luggage grid, meets the preset necessary stacking conditions, and does not meet the preset optimized stacking conditions. In other words, the designated unconfirmed point is a unconfirmed point that is rejected due to not meeting the optimized stacking conditions. Therefore, before the secondary traversal, the execution status of all optimized stacking conditions is set to off. In the subsequent secondary traversal, only the designated unconfirmed point is traversed. This ensures 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.

[0152] Embodiment 5:

[0153] The following will refer to Figure 1 The flowchart of the luggage stacking position determination method based on multiple iterations is shown, which introduces a luggage stacking position determination method based on multiple iterations.

[0154] The luggage stacking position determination method based on multiple iterations may include the following steps:

[0155] R100, 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.

[0156] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0157] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0158] R200, according to the size of W and the preset traversal rules, traverses each preset point to be confirmed in QR in turn.

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

[0160] R210, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid, then enter R220; otherwise, traverse the next point to be confirmed; wherein the target point to be confirmed is any preset point to be confirmed.

[0161] R220, if W satisfies all preset stacking conditions, the target pending confirmation point is confirmed as the stacking location corresponding to the luggage to be stacked; otherwise, the next pending confirmation point is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

[0162] Furthermore, step R200 may include the following steps:

[0163] R221, 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.

[0164] R222, if NUM1×ΔL Y <L Y -L W , then enter R223; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0165] Furthermore, step R222 may further include: if NUM1×ΔL Y ≥L Y -L W , then enter R225;

[0166] R225, if NUM2×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.

[0167] R226, update NUM1 = 0, update NUM2 = NUM2 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter R222.

[0168] R227, 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 R222; 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.

[0169] R223, determine whether W coincides with at least one of the three-dimensional luggage grids, and determine whether W meets all preset stacking conditions.

[0170] R224: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1, and enter R222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0171] 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 is not described in detail here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in embodiment 1.

[0172] R300, if the stacking location 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 = (B1, B2, ..., B j ,…,B m ), j = 1, 2, ..., m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions.

[0173] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in the QR, the stacking position corresponding to the luggage to be stacked may not be determined; however, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked in the luggage cart, multiple iterative traversals are required to determine the stacking position corresponding to the luggage to be stacked.

[0174] It should be noted that necessary stacking conditions are stacking conditions set in accordance with relevant civil aviation regulations. For example, small luggage is placed on top of large luggage, and the currently stacked luggage will not be thrown. Optimized stacking conditions are optimized stacking conditions set to improve the space utilization of luggage carts or to ensure that luggage is stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions need to be met; otherwise, the optimized stacking conditions do not need to be met.

[0175] R400, according to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j ,…,YB m ); among them, YB j B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement.

[0176] 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 larger priority is executed before the stacking condition with a smaller priority.

[0177] R500: Obtain a fourth preset value NM=m.

[0178] R600, if NM>0, then get B NM The corresponding intermediate points to be confirmed are used to obtain the NMth intermediate points to be confirmed 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 B NM The corresponding u-th intermediate point to be confirmed, f(NM) is B NM The number of corresponding intermediate points to be confirmed; B NMThe corresponding intermediate point to be confirmed is not satisfied with B NM Points to be confirmed.

[0179] In this embodiment, during the first traversal, no stacking locations corresponding to the luggage to be stacked are determined, indicating that all pending confirmation points are rejected. Some of the rejected pending confirmation points are rejected because they do not meet the necessary stacking conditions, while others are rejected because they do not meet the optimized stacking conditions. Therefore, for any optimized stacking condition, the stacking condition may correspond to the rejection of multiple pending confirmation points, or it may not reject any pending confirmation point. Using the optimized stacking condition as a dimension, the intermediate pending confirmation points corresponding to each optimized stacking condition can be obtained.

[0180] Furthermore, after step R600, the method further includes:

[0181] R610: If NM≤0, it is determined that the stacking location corresponding to the luggage to be stacked has not been determined, and the current processing is exited.

[0182] In this embodiment, if NM≤0, it means that all optimized stacking conditions have been turned off. At this time, the stacking position corresponding to the luggage to be stacked cannot be determined, and the current process is skipped. The luggage to be stacked can be stacked manually later.

[0183] R700, if f(NM)=0, then update NM=NM-1 and enter R600; otherwise, change B in B NM To B m The execution status of is set to closed to obtain the updated optimized stacking condition list B' corresponding to B and enter R800.

[0184] In this embodiment, first determine whether f(NM) is equal to 0. If f(NM)=0, it means that there is no B NM If any pending confirmation point is denied, then close B NM After that, even if the waiting points are traversed again, the stacking position corresponding to the luggage to be stacked will not be determined; therefore, the next optimized stacking condition is closed at this time; if f(NM)≠0, enter R800.

[0185] R800, according to the size of W and B', for D NM Traverse to obtain the stacking location corresponding to the luggage to be stacked.

[0186] In this embodiment, it can be understood that D NM To obtain B NM The corresponding intermediate points to be confirmed, the obtained NMth intermediate points to be confirmed list, D NM There are only a few points to be confirmed in the traversal, so the time consumed is short, which can improve the efficiency of determining the stacking position corresponding to the luggage to be stacked; In addition, DNM The intermediate points to be confirmed are arranged from first to last according to the order of the first traversal.

[0187] In this embodiment, after first traversing 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 is not determined from all the pending confirmation points, each optimized stacking condition and the priority corresponding to each optimized stacking condition are obtained; based on the priority of each optimized stacking condition, the optimized stacking conditions are closed in ascending order of priority. Each time an optimized stacking condition is closed, the list of intermediate pending confirmation points corresponding to the optimized stacking condition is traversed to determine the stacking position corresponding to the luggage to be stacked.

[0188] Furthermore, the present invention performs closing processing based on the priority of the optimized stacking conditions. The optimized stacking condition with the lowest priority is closed first. The stacking condition with the lowest priority has the smallest impact on the determined stacking position of the luggage to be stacked. Therefore, the present invention can determine the stacking position corresponding to the luggage to be stacked with minimal impact. At the same time, the subsequent traversal is not a full traversal. Therefore, the present invention can also improve the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0189] Example 6:

[0190] Based on the method in Example 1, each time a position is moved, in order to make the determined stacking position more appropriate, it is also necessary to determine whether there is a situation where the luggage to be stacked is thrown when it is stacked at the position. Based on this, the following method is provided:

[0191] E100, 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 several stacked luggage.

[0192] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0193] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0194] E200, according to the size of W and the preset traversal rules, traverses each preset point to be confirmed in QR in turn.

[0195] Furthermore, step E200 includes the following steps:

[0196] E221 , obtain a first preset value NUM1=0, a second preset value NUM2=0, and a third preset value NUM3=0; and place W at the origin position corresponding to W in QR.

[0197] E222, if NUM1×ΔL Y <L Y -L W , then enter E223; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0198] E223, determining whether W overlaps with at least one of the three-dimensional luggage grids, and determining whether W meets all preset stacking conditions.

[0199] E224: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1 and go to E222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0200] Furthermore, step E222 may further include: if NUM1×ΔL Y ≥L Y -L W , then enter E225.

[0201] E225, 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 in QR.

[0202] E226, update NUM1 = 0, update NUM2 = NUM2 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z) and enter E222.

[0203] E227, 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 E222; 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.

[0204] 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 is not described in detail here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in embodiment 1.

[0205] E300: When W is at the target pending confirmation point, if W does not overlap with any three-dimensional luggage grid and W meets all preset stacking conditions, then proceed to E400; otherwise, traverse to the next pending confirmation point; wherein the target pending confirmation point is any preset pending confirmation point.

[0206] In this embodiment, although W is at the target point to be confirmed, W does not overlap with any three-dimensional baggage grid, and W meets all preset stacking conditions, at this time, the bottom surface of W is too high above the baggage stacked below, or the volume of the baggage stacked below is smaller than the volume of the baggage corresponding to W. In this case, due to the relevant regulations of the Civil Aviation Administration on baggage stacking, the target point to be confirmed cannot be determined as the stacking location corresponding to the baggage to be stacked.

[0207] E400, move W downward by a fourth preset distance ΔHA.

[0208] E500: If W after moving downward by ΔHA does not coincide with any three-dimensional baggage grid, it is determined that the target point to be confirmed is not the stacking position corresponding to the baggage to be stacked; otherwise, proceed to E600.

[0209] In this embodiment, if W does not overlap with any three-dimensional baggage grid after moving W downward by the fourth preset distance ΔHA, this indicates that no stacked baggage exists within the distance ΔHA below the bottom of W. The current baggage to be stacked is suspended in the air. At this point, if the robot arm places the current baggage to be stacked at the target confirmation point, the current baggage to be stacked will be dropped, potentially damaging it.

[0210] E600: Determine, based on each three-dimensional baggage grid that coincides with W after being moved downward by ΔHA, whether the target point to be confirmed is a stacking position corresponding to the baggage to be stacked.

[0211] Furthermore, step E600 may include the following steps:

[0212] E610, obtain each three-dimensional luggage grid that coincides with W after moving downward by ΔHA, to obtain a first three-dimensional luggage grid list G = (G1, G2, ..., G a ,…,G b ), a=1, 2, ..., b; where G a is the ath three-dimensional luggage grid that overlaps with W after moving downward by ΔHA, and b is the number of three-dimensional luggage grids that overlap with W after moving downward by ΔHA.

[0213] In this embodiment, if W overlaps with several three-dimensional luggage grids after being moved downward by the fourth preset distance ΔHA, it indicates that there is already stacked luggage within a distance ΔHA below the luggage to be stacked. In this case, each three-dimensional luggage grid that overlaps with W after being moved downward by ΔHA can be obtained.

[0214] E620, obtain the projection area of ​​each three-dimensional luggage grid in G on the bottom surface of W to obtain the projection area list TG corresponding to G = (TG1, TG2, ..., TG a ,…,TG b ); among them, TG a G a The projected area on the base of W.

[0215] E630, based on TG, determine the total projected area of ​​the bottom surface corresponding to G, ZG = ∑ b a＝1 TG a .

[0216] E640: If ZG / ZW ≥ DE, proceed to E650; otherwise, determine that the target point to be confirmed is not the stacking location corresponding to the luggage to be stacked; ZW is the area of ​​the bottom surface of W, DE is a preset first area ratio threshold, and DE < 1.

[0217] In this embodiment, the value of DE can be set to 0.9, or other values ​​close to or equal to 1. If ZG / ZW ≥ DE, it indicates that the area of ​​the lower surface of the luggage to be stacked is substantially the same as the area of ​​the upper surface of the luggage already stacked below. Therefore, it can be considered that the size of the luggage to be stacked is no larger than the size of the luggage already stacked below. In other words, there will not be a situation where larger luggage suppresses smaller luggage, which complies with relevant civil aviation regulations.

[0218] Furthermore, step E650 may include the following steps:

[0219] E651, when W is at the target point to be confirmed, move W along the preset direction of the Y axis of QR by a fifth preset distance ΔHB.

[0220] E652, obtain each three-dimensional luggage grid that coincides with W after moving ΔHB along the preset direction of the Y axis of QR to obtain a second three-dimensional luggage grid list F = (F1, F2, ..., F c ,…,F d ), c=1, 2, ..., d; where F c is the cth three-dimensional luggage grid that overlaps with W after moving ΔHB along the preset direction of the Y axis of QR, and d is the number of three-dimensional luggage grids that overlap with W after moving ΔHB along the preset direction of the Y axis of QR.

[0221] E653, obtain the projected area of ​​each three-dimensional luggage grid in F on the side of W perpendicular to the Y axis to obtain the corresponding projected area list TF = (TF1, TF2, ..., TF c ,…,TF d ); among them, TF c F c The projected area on the side of W perpendicular to the Y axis.

[0222] E654, based on TF, determine the total side projection area corresponding to F, ZF = ∑ d c＝1 TF c .

[0223] E655: If ZF / ZW'≥DE', the target point to be confirmed is determined to be the stacking location corresponding to the luggage to be stacked. Otherwise, the target point to be confirmed is determined not to be the stacking location corresponding to the luggage to be stacked. ZW' is the area of ​​the side of W perpendicular to the Y axis, DE' is a preset second area ratio threshold, and DE'<1.

[0224] In this embodiment, during the baggage stacking process, a situation may occur: two already stacked bags each have a handle protruding from the overall baggage structure. The handles also correspond to a three-dimensional baggage grid. Therefore, when traversing the stacking positions corresponding to the currently stacked baggage, the stacking position corresponding to the currently stacked baggage may be determined to be between the handles of the two already stacked bags. This will result in a large space between the handles of the currently stacked baggage, which will have a certain impact on the subsequent baggage stacking.

[0225] Based on this, the method in steps E651-E655 can determine whether one side of the current luggage to be stacked is adjacent to one side of the stacked luggage at the target confirmation point along the Y-axis direction, rather than adjacent to the handle of the stacked luggage. This avoids the problem of determining the stacking position corresponding to the current luggage between the handles of two stacked luggage, resulting in a large space left on both sides of the current luggage, which has 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.

[0226] In this embodiment, during the process of determining the stacking position corresponding to the current baggage to be stacked, 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, W is moved downward by a fourth preset distance ΔHA. If W after the downward movement of ΔHA does not overlap with any three-dimensional baggage grid, it is determined that the target point to be confirmed is not the stacking position corresponding to the baggage to be stacked. Otherwise, based on each three-dimensional baggage grid that overlaps with W after the downward movement of ΔHA, it is determined whether the target point to be confirmed is the stacking position corresponding to the baggage to be stacked. This method can determine whether the current baggage to be stacked is in a suspended state, thereby preventing the current baggage to be stacked from being dropped and causing damage to the current baggage to be stacked.

[0227] Embodiment seven:

[0228] In the above embodiment, whether the luggage is soft or hard is not considered during the stacking process. If the hard luggage presses on the soft luggage, the soft luggage may be damaged. To avoid this, the following method is provided based on the above embodiment:

[0229] P100. Obtain the three-dimensional coordinate system QR corresponding to the current baggage cart and the bounding box W of the baggage to be stacked. QR includes a number of three-dimensional baggage grids corresponding to the stacked baggage. The space of the baggage cart includes a lower space and an upper space. The lower space includes a first subspace for stacking a first type of baggage and a second subspace for stacking a second type of baggage. The hardness of the first type of baggage is less than that of the second type of baggage.

[0230] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0231] For baggage to be stacked, the size information of the bounding box corresponding to the baggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current baggage cart can be established to quantify the position of each space within the current baggage cart. The first type of baggage can be understood as a harder suitcase, and the second type of baggage can be understood as a softer soft bag. When airport management personnel confirm the type of baggage, they can do so by manually tagging it, and the baggage type corresponding to each baggage to be stacked can be directly obtained later.

[0232] P200: If the baggage to be stacked is of the second type and there is already baggage of the first type stacked in the first subspace, then traverse each preset point to be confirmed in QR in sequence according to the size of W and the preset traversal rules.

[0233] In this embodiment, the first type of luggage has been stacked in the first subspace, indicating that softer luggage has been stacked in the first subspace. Second type of luggage, i.e., harder luggage, cannot be stacked above the first subspace to prevent the first type of luggage from being crushed.

[0234] Furthermore, step P200 may include the following steps:

[0235] 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.

[0236] P222, if NUM1×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.

[0237] P223, determine whether W coincides with at least one of the three-dimensional luggage grids, and determine whether W meets all preset stacking conditions.

[0238] P224: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1 and go to P222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0239] Furthermore, step P222 may further include: if NUM1×ΔL Y ≥L Y -L W , then go to P225.

[0240] 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 in QR.

[0241] P226, update NUM1 = 0, update NUM2 = NUM2 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter P222.

[0242] 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.

[0243] In this embodiment, the method of traversing each preset point to be confirmed in QR in turn according to the size of W and the preset traversal rules is the same as the method in steps S200-S620 in Example 1, and is not repeated here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W each time W moves in Example 1.

[0244] P300: When W is at the target pending confirmation point, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, then proceed to P400; otherwise, traverse to the next pending confirmation point; where the target pending confirmation point is any preset pending confirmation point.

[0245] In this embodiment, when W is at the target pending confirmation point, if W does not overlap with any three-dimensional luggage grid and W meets all preset stacking conditions, it means that the target pending confirmation point meets the preset stacking conditions and may be the stacking location corresponding to the current luggage to be stacked. However, it is necessary to further determine whether there is a situation where hard luggage is pressing soft luggage.

[0246] P400: If the target point to be confirmed is not a point to be confirmed located above the first subspace, 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.

[0247] In this embodiment, the target pending confirmation point is not a pending confirmation point located above the first subspace, and the luggage currently to be stacked is second type luggage. First type luggage has already been stacked in the first subspace. In this case, stacking the luggage to be stacked at the target pending confirmation point will not press on the first type luggage.

[0248] Furthermore, after step P400, the method further includes the following steps:

[0249] P500: If the baggage to be stacked is of the second type and there is no baggage of the first type stacked in the first subspace, then traverse each preset point to be confirmed in QR in sequence according to the size of W and the preset traversal rules.

[0250] P510: When W is at the target pending confirmation point, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, the target pending confirmation point is determined as the stacking location corresponding to the baggage to be stacked. Otherwise, the next pending confirmation point is traversed; the target pending confirmation point is any preset pending confirmation point.

[0251] In this embodiment, since the first type of luggage is not stacked in the first subspace, that is, no soft luggage is stacked in the first subspace, the second type of luggage can be stacked anywhere in the lower or upper space without pressing on the soft luggage.

[0252] Furthermore, after step P400, the method may further include the following steps:

[0253] P600: If the baggage to be stacked is of the first type, then traverse each preset confirmation point in QR in sequence according to the size of W and the preset traversal rules;

[0254] P610: When W is at the target pending confirmation point, if W does not overlap with any three-dimensional baggage grid and W meets all preset stacking conditions, the target pending confirmation point is determined as the stacking location corresponding to the baggage to be stacked. Otherwise, the next pending confirmation point is traversed; the target pending confirmation point is any preset pending confirmation point.

[0255] In this embodiment, when the luggage to be stacked is soft luggage, regardless of whether there is any first-type luggage stacked in the first subspace, the luggage to be stacked can be stacked at any location in the luggage cart without causing hard luggage to press against soft luggage. It should be noted that in this embodiment, first-type luggage can press against first-type luggage, that is, soft luggage can press against soft luggage.

[0256] In this embodiment, the luggage cart space is divided into a lower space and an upper space. The lower space includes a first subspace for stacking a first type of luggage and a second subspace for stacking a second type of luggage. The first type of luggage has a lower hardness than the second type of luggage. If the luggage to be stacked is the second type of luggage and the first type of luggage is already stacked in the first subspace, each preset pending confirmation point in the three-dimensional coordinate system corresponding to the luggage cart is traversed in sequence according to the size of W and a preset traversal rule. When W is at the target pending confirmation point, if W does not overlap with any three-dimensional luggage grid, W meets all preset stacking conditions, and the target pending confirmation point is not a pending confirmation point located above the first subspace, the target pending confirmation point is determined as the stacking position corresponding to the luggage to be stacked. The method of the present invention ensures that harder luggage is not stacked on top of less hard luggage, thereby preventing softer luggage from being crushed by harder luggage.

[0257] Embodiment 8:

[0258] In the first embodiment, the termination condition for the three-layer loop traversal is a preset distance. However, the preset distance may not be sufficient for all luggage carts, resulting in the luggage to be stacked exceeding the stacking space range of the luggage cart when the determined stacking position is reached. To avoid this situation, the following method is provided:

[0259] F100 , obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W corresponding to the luggage to be stacked; wherein QR includes a plurality of three-dimensional luggage grids corresponding to the stacked luggage.

[0260] 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 using image recognition or lidar scanning. After the stacked luggage is identified, the stacked luggage can be segmented to generate a number of three-dimensional luggage meshes containing point clouds corresponding to the stacked luggage. It should be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0261] For the luggage to be stacked, the size information of the bounding box corresponding to the luggage to be stacked can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0262] F200: Set a virtual bounding box corresponding to the virtual luggage in QR; wherein the virtual bounding box is located outside the current luggage cart and is adjacent to four sides of the current luggage cart; and the sides of the adjacent virtual bounding boxes have the same size as the sides of the current luggage cart.

[0263] In this embodiment, after the luggage is identified, a virtual bounding box is set on the outer side of the luggage cart and close to the luggage cart. The virtual bounding box is a three-dimensional rectangle and is used to represent the outer area of ​​the luggage cart.

[0264] F300: Based on the size of W and the preset traversal rules, each preset pending confirmation point in QR is traversed in sequence. When W is at the target pending confirmation point, if W does not overlap with any 3D baggage grid, W does not overlap with the virtual bounding box, and W meets all preset stacking conditions, the target pending confirmation point is determined as the stacking location corresponding to the baggage to be stacked.

[0265] Furthermore, step F300 may include the following steps:

[0266] F310 , obtaining a first preset value NUM1=0, a second preset value NUM2=0, and a third preset value NUM3=0; and placing W at the origin position corresponding to W in QR.

[0267] In this embodiment, the origin position corresponding to W in QR is the same as the origin position corresponding to W in QR in the first embodiment, and is not repeated here.

[0268] F320, determine whether W coincides with the virtual bounding box.

[0269] In this embodiment, the virtual bounding box is configured to correspond to the maximum and minimum X, Y, and Z axis coordinates. The method for determining whether W overlaps with the three-dimensional luggage grid in the first embodiment can be used to determine whether W overlaps with the virtual bounding box, which is not further described here.

[0270] F330, if W does not coincide with the virtual bounding box, then enter F340; otherwise, enter F350;

[0271] In this embodiment, if W does not overlap with the virtual bounding box, it means that the current position of W in QR does not exceed the stacking space range of the current luggage cart.

[0272] F340: 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, W is moved along the Y axis by ΔL. Y ; where ΔL Y For the first preset distance, enter F320.

[0273] In this embodiment, step F340 is the same as the method in step S500 in the first embodiment, and is not described again here.

[0274] Furthermore, step F350 includes the following steps:

[0275] F351, if NUM2×ΔH Z <H Z -H W , then update NUM2=NUM2+1.

[0276] In this embodiment, if NUM2×ΔH Z <H Z -H W , indicating that the traversal in the Z-axis direction has not been completed.

[0277] F352, put W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and determine whether W coincides with the virtual bounding box; ΔH Z is the second preset distance; ΔD X The third preset distance.

[0278] F353, if W does not coincide with the virtual bounding box, then enter F340; otherwise, 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 ) and determines whether W coincides with the virtual bounding box.

[0279] F354: If W does not overlap with the virtual bounding box, proceed to F340; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined.

[0280] In this embodiment, it should be noted that each time a position is moved, it is necessary to first determine whether W coincides with the virtual bounding box to determine whether the position after the move exceeds the stacking space range of the current luggage cart. It can be understood that in this embodiment, the virtual bounding box is used as the traversal termination condition, while in the first embodiment, a preset traversal distance is used as the traversal termination condition. There are multiple luggage carts, and the sizes of each luggage cart are not absolutely the same, and there may be slight differences. If a fixed traversal distance is used as the traversal termination condition, the luggage to be stacked may exceed the stacking space range of the luggage cart when the stacking position is determined. In this embodiment, the stacking space range of the current luggage cart is visually identified, and then the corresponding virtual bounding box is set, which can avoid the occurrence of the above-mentioned problem.

[0281] 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. The QR includes a number of three-dimensional luggage grids corresponding to the stacked luggage. A virtual bounding box corresponding to the virtual luggage is set in the QR. The virtual bounding box is located outside the current luggage cart and is adjacent to four sides of the current luggage cart. The sides of the adjacent virtual bounding boxes have the same size as the sides of the current luggage cart. Based on the size of W and a preset traversal rule, each preset point to be confirmed in the QR is traversed in sequence. When W is at the target point to be confirmed, if W does not overlap with any three-dimensional luggage grid, W does not overlap with the virtual bounding box, and W meets all preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked. In this way, the stacking position corresponding to the luggage to be stacked is determined without exceeding the spatial range of the luggage cart.

[0282] Furthermore, the stacking position corresponding to the luggage to be stacked is determined based on the luggage already stacked corresponding to the current luggage cart and the size of the luggage to be stacked. Therefore, the determined stacking position corresponding to the luggage to be stacked is more consistent with the remaining stacking space of the current luggage cart, making the luggage stacking more compact and orderly, and improving the space utilization rate of the luggage cart.

[0283] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0284] An embodiment of the present invention also provides a non-transitory computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiment.

[0285] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0286] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0287] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0288] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0289] An embodiment of the present invention further provides an electronic device including a processor and the aforementioned non-transitory computer-readable storage medium.

[0290] The electronic device is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0291] The electronic device is implemented as a general-purpose computing device. Components of the electronic device may include, but are not limited to, the aforementioned at least one processor, the aforementioned at least one memory, and a bus connecting different system components (including the memory and the processor).

[0292] The memory stores program codes, which can be executed by the processor, so that the processor performs the steps of various embodiments described in this specification.

[0293] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0294] The memory may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0295] The bus may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0296] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0297] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution 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, and includes 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.

[0298] An embodiment of the present invention further provides a computer program product comprising program code. When the program product is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the method according to various exemplary embodiments of the present invention described above in this specification.

[0299] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A luggage stacking location determination method based on multiple iterations, characterized in that: The method comprises the following steps: R100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked; QR includes the three-dimensional luggage grids corresponding to the stacked luggage; R200, according to the size of W and the preset traversal rules, traverse each preset point to be confirmed in QR in turn; R300, if the stacking location 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 = (B1, B2, ..., B j ,…,B m ), j = 1, 2, ..., m; where B j is the jth optimized stacking condition, and m is the number of optimized stacking conditions; R400, according to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2, ..., YB j ,…,YB m ); among them, YB j B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement; R500, obtain a fourth preset value NM=m; R600, if NM>0, then get B NM The corresponding intermediate points to be confirmed are used to obtain the NMth intermediate points to be confirmed 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 B NM The corresponding u-th intermediate point to be confirmed, f(NM) is B NM The number of corresponding intermediate points to be confirmed; B NM The corresponding intermediate point to be confirmed is not satisfied with B NM Points to be confirmed; R700, if f(NM)=0, then update NM=NM-1 and enter R600; otherwise, change B in B NM To B m The execution status of is set to closed to obtain the updated optimized stacking condition list B' corresponding to B and enter R800; R800, according to the size of W and B', for D NM Traverse to obtain the stacking location corresponding to the luggage to be stacked.

2. The luggage stacking location determination method based on multiple iterations according to claim 1, characterized in that: After step R600, the method further includes: R610: If NM≤0, it is determined that the stacking location corresponding to the luggage to be stacked has not been determined, and the current processing is exited.

3. The luggage stacking location determination method based on multiple iterations according to claim 1, characterized in that: Step R200 includes the following steps: R210, when W is at the target pending confirmation point, if W does not overlap with any three-dimensional baggage grid, then proceed to R220; otherwise, traverse to the next pending confirmation point; wherein the target pending confirmation point is any preset pending confirmation point; R220, if W satisfies all preset stacking conditions, the target pending confirmation point is confirmed as the stacking location corresponding to the luggage to be stacked; otherwise, the next pending confirmation point is traversed; wherein the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

4. The luggage stacking location determination method based on multiple iterations according to claim 1, characterized in that: Step R200 includes the following steps: R221, 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; R222, if NUM1×ΔL Y <L Y -L W , then enter R223; among them, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is a first preset distance; R223, determining whether W coincides with at least one of the three-dimensional luggage grids, and determining whether W satisfies all preset stacking conditions; R224: If W coincides with at least one of the three-dimensional luggage grids or W does not meet at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1, and enter R222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

5. The luggage stacking location determination method based on multiple iterations 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 luggage stacking location determination method based on multiple iterations according to claim 5, characterized in that: Step R222 also includes: if NUM1×ΔL Y ≥L Y -L W , then enter R225; R225, if NUM2×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 of QR; R226, update NUM1 = 0, update NUM2 = NUM2 + 1, and place W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter R222; R227, 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 R222; 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 luggage stacking location determination method based on multiple iterations 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 segment is loaded and executed by the processor to implement the luggage stacking position determination method based on multiple iterations according to any one of claims 1 to 7.

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

Images