Luggage stacking position determination method and equipment based on condition degradation and storage medium

Abstract

The invention provides a luggage stacking position determination method and device based on condition degradation and a storage medium, and relates to the technical field of luggage stacking position determination.The method comprises the steps that a three-dimensional coordinate system QR corresponding to a current luggage barrow and a to-be-stacked luggage bounding box W corresponding to to-be-stacked luggage are obtained; traversing each preset point to be confirmed in the QR in sequence; if the stacking position corresponding to the to-be-stacked luggage is not determined from all the to-be-confirmed points, obtaining each optimized stacking condition to obtain an optimized stacking condition list B; according to B, determining the priority of each optimized stacking condition to obtain an optimized stacking condition priority list YB; obtaining a fourth preset value NM = m; if NM is larger than 0 and the stacking position corresponding to the luggage to be stacked is not determined, the execution state of BNM in B is set to be closed; under the condition that the stacking space exists, it is ensured that the stacking position corresponding to the to-be-stacked luggage can be determined.

Description

Technical Field

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

[0002] In the civil aviation field, luggage handling is a major challenge in the modern aviation industry. Due to the increasing passenger flow at airports, the number of passengers' luggage is also rising continuously. For luggage handling, in order to improve the handling efficiency of luggage, some airports use automated luggage handling equipment to transfer luggage from the conveyor belt to the luggage cart and then transport it to the corresponding flight's aircraft for loading and consignment through the luggage cart. Before placing the luggage to be placed, it is necessary to determine the corresponding placement position of the luggage to be placed on the luggage cart, and the determination of the placement position is based on several preset placement conditions. However, due to the existence of placement conditions, there may be a situation where, even though there is available placement space, the placement position of the luggage to be placed cannot be determined, resulting in the luggage to be placed not being able to be placed. Summary of the Invention

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

[0004] According to a first aspect of the present application, there is provided a method for determining the placement position of luggage based on conditional degradation, the method comprising the following steps:

[0005] H100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a bounding box W of the luggage to be placed corresponding to the luggage to be placed; wherein, QR includes three-dimensional luggage grids corresponding to a plurality of placed luggages.

[0006] H200, traversing each preset point to be confirmed in QR in sequence according to the size of W and a preset traversal rule.

[0007] H300, if the placement position corresponding to the luggage to be placed cannot be determined from all the points to be confirmed, obtaining each optimized placement condition to obtain an optimized placement condition list B = (B1, B2,..., B j ,..., B m ), j = 1, 2,..., m; wherein, B j is the j-th optimized placement condition, and m is the number of optimized placement conditions.

[0008] H400, determining the priority of each optimized placement condition according to B to obtain an optimized placement condition priority list YB = (YB1, YB2,..., YB j ,..., YB m ); wherein, YB j is the priority corresponding to B j ; YB r> YB r+1 ; r = 1, 2, …, m - 1; B r prior to B r+1 Execute.

[0009] H500, obtain the fourth preset value NM = m.

[0010] H600, if NM > 0 and the stacking position corresponding to the luggage to be stacked cannot be determined, then set the execution status of B in B NM to closed; update NM = NM - 1; enter H200.

[0011] According to another aspect of the present application, there is also provided a non - transitory computer - readable storage medium, in which at least one instruction or at least one program segment is stored, and 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 the stacking position of luggage based on conditional degradation.

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

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

[0014] The method for determining the stacking position of luggage based on conditional degradation of the present invention, after the first traversal of each point to be confirmed in the three - dimensional coordinate system corresponding to the current luggage cart, if the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the priority of each optimized stacking condition, degradation is performed in ascending order. For each degraded optimized stacking condition, each point to be confirmed in the three - dimensional coordinate system corresponding to the current luggage cart is traversed again; thus, in the case where there is stacking space, it is ensured that the stacking position corresponding to the luggage to be stacked can be determined. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0016] Figure 1 It is a flowchart of the method for determining the stacking position of luggage based on conditional degradation provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] It should be noted that based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0019] Embodiment 1:

[0020] In this embodiment, a method for determining the stacking position of the luggage to be stacked is provided. The method may include the following steps:

[0021] S100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart, the luggage bounding box W corresponding to the luggage to be stacked, and the length L of the luggage cart in the Y-axis direction in QR Y , the width D in the X-axis direction X and the height H in the Z-axis direction Z ; wherein, the QR includes a three-dimensional luggage grid corresponding to several stacked luggages, and each three-dimensional luggage grid corresponds to position coordinates and dimension information.

[0022] In this embodiment, before determining the stacking position of the luggage to be stacked, it is necessary to identify the stacked luggage on the current luggage cart; the stacked luggage can be identified by an image recognition method or a lidar scanning method. After identifying the stacked luggage, the stacked luggage can be segmented to generate several three-dimensional luggage grids containing the point clouds corresponding to the stacked luggage; it can be understood that each three-dimensional luggage bounding box represents the stacked luggage in the corresponding space.

[0023] For the luggage to be stacked, the dimension information of the luggage bounding box corresponding to the luggage to be stacked can be obtained by an image recognition method; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0024] Further, the luggage to be stacked is picked up by a preset manipulator; wherein, when the preset manipulator places the luggage to be stacked, the orientation of the manipulator is perpendicular to the side wall of the luggage cart in the Y-axis direction in QR.

[0025] Based on the above setting of the manipulator orientation, during the subsequent determination of the stacking position, first traverse along the Y-axis direction to facilitate the stacking of the luggage and avoid collision with the stacked luggage.

[0026] S200, obtain the first preset value NUM1 = 0, and place W at the origin position of W corresponding in QR.

[0027] In this embodiment, since the position of the luggage to be stacked is determined based on the stack shape of the luggage already stacked on the current luggage cart, after each luggage to be stacked is stacked, it is necessary to re-obtain the three-dimensional coordinate system corresponding to the current luggage cart; then place W at the origin position of W corresponding in QR to determine the best stacking position applicable to the current luggage to be stacked based on the stack shape corresponding to the current luggage cart.

[0028] Furthermore, the origin position QR of W corresponding in QR W =(W X , W Y , W Z ); where W X is the X-axis coordinate of the origin position of W corresponding in QR, W Y is the Y-axis coordinate of the origin position of W corresponding in QR, W Z is the Z-axis coordinate of the origin position of W corresponding 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.

[0029] In this embodiment, when W is placed at the origin position QR of W corresponding in QR W , the center point of W coincides with QR W ; it can be understood that when the size of W is different, the corresponding origin position QR of W corresponding in QR W is also different. When W is at the origin position, one vertex of W coincides with the origin of the coordinate system of QR. Thus, it can be enabled that W traverses starting from a bottom vertex of the current luggage cart.

[0030] 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.

[0031] Further, 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.

[0032] S600, if NUM2 × ΔH Z <H Z -H W , then enter S610; otherwise, enter S620; where, ΔH Z is the second preset distance.

[0033] S610, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X + NUM3 × ΔD X , W Y , W Z + NUM2 × ΔH Z ), and enter S300.

[0034] S620, if NUM3 × ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the middle position QE W =(W X + NUM3 × ΔD X , W Y , W Z + NUM2 × ΔH Z ), and enter S300; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where, ΔD X is the third preset distance.

[0035] Further, it is possible to set ΔL Y = ΔH Z = ΔD X = 20mm; under this parameter setting, it can ensure that the luggage is stacked more closely on the premise of higher traversal efficiency, thereby improving the space utilization rate of the luggage cart.

[0036] In this embodiment, the traversal order is to traverse along the Y-axis direction first. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, then increase the Z-axis coordinate by ΔH Z , and then continue to traverse along the Y-axis again. If the Z-axis NUM2 × ΔH Z ≥ H Z -H W, it means that the traversal in the Z-axis direction is also completed. At this time, the coordinates of the X-axis need to be changed, and the traversal in the Y-axis direction continues; that is, first traverse along the Y-axis direction, then along the Z-axis direction, and finally along the X-axis direction; it can be understood as a three-layer loop to achieve the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

[0037] Through the above traversal method, when stacking the luggage, the luggage to be stacked will first be stacked against the farther side of the current luggage cart, presenting a shape like a grain pile with a larger bottom and a smaller top, so that when the manipulator stacks the luggage, it will not collide with the stacked luggage and avoid damage to the luggage.

[0038] S400, determine whether W coincides with at least one of several three-dimensional luggage grids, and determine whether W meets all the preset stacking conditions.

[0039] In this embodiment, when W is in any position, it is necessary to determine whether W will collide with other stacked luggage at this position and whether it meets all other preset stacking conditions; it can be understood that if W coincides with at least one of several three-dimensional luggage grids, it means that W will collide with the stacked luggage at this position.

[0040] Furthermore, determining whether W coincides with at least one of several three-dimensional luggage grids may include the following steps:

[0041] S410, obtain the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR to obtain a set A of minimum and maximum coordinates of the three-dimensional luggage grid A=(A1, A2,..., A i ,..., A n ), i = 1, 2,..., n; where A i is the list of minimum and maximum coordinates of the i-th three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; A i =(A i，X _min, A i，X _max, A i，Y _min, A i，Y _max, A i，Z _min, A i，Z _max); A i，X _min and A i，X _max are the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid respectively, A i，Y _min and A i，Y _max are the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid respectively, A i，Z _min and A i，Z_max are the minimum and maximum Z-axis coordinates of the i-th three-dimensional luggage grid respectively.

[0042] In this embodiment, each three-dimensional luggage grid in the QR corresponds to the coordinates of each vertex, and the minimum and maximum X-axis coordinates, minimum and maximum Y-axis coordinates, and minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in the QR can be obtained.

[0043] S420, obtain the minimum X-axis coordinate W of W in the QR min，X , the maximum X-axis coordinate W max，X , the minimum Y-axis coordinate W min，Y , the maximum Y-axis coordinate W max，Y , the minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0044] Similarly, when W is in different positions in the QR, the corresponding minimum X-axis coordinate W min，X , the maximum X-axis coordinate W max，X , the minimum Y-axis coordinate W min，Y , the maximum Y-axis coordinate W max，Y , the minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z can also be obtained.

[0045] S430, traverse A. If the X-axis coordinate interval of A i [A i，X _min, A i，X _max] overlaps with the X-axis coordinate interval of W [W min，X , W max，X , the Y-axis coordinate interval of A i [A i，Y _min, A i，Y _max] overlaps with the Y-axis coordinate interval of W [W min，Y , W max，Y and the Z-axis coordinate interval of A i [A i，Z _min, A i，Z _max] overlaps with the Z-axis coordinate interval of W [W min，Z , W max，Z , it is determined that W coincides with at least one of several three-dimensional luggage grids.

[0046] In this embodiment, when it is possible to determine whether there will be a collision with the already stacked luggage when W is at a certain position in QR through the above steps; if there is no collision with the already stacked luggage when W is at a certain position in QR; it is also necessary to determine whether all the preset stacking conditions are met when W is at this position; the preset stacking conditions are set according to the relevant regulations of civil aviation. For example: the preset stacking conditions may include that the luggage with a small volume is placed above the luggage with a large volume, and there will be no throwing situation for the currently to-be-stacked luggage, etc.

[0047] S500, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W along the Y-axis direction by ΔL Y , update NUM1 = NUM1 + 1, and enter S300; otherwise, determine the position where W is currently located as the stacking position corresponding to the to-be-stacked luggage.

[0048] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, it is possible that the stacking position corresponding to the to-be-stacked luggage has not been determined. In order to stack the to-be-stacked luggage into the luggage cart, a second traversal is required.

[0049] Furthermore, the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; among them, the execution status of the necessary stacking conditions is enabled, and the execution status of the optimized stacking conditions includes enabled and disabled.

[0050] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to the relevant regulations of civil aviation. For example: the luggage with a small volume is placed above the luggage with a large volume, and there will be no throwing situation for the currently to-be-stacked luggage; while the optimized stacking conditions are optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to enabled or disabled. When the execution status of the optimized stacking conditions is enabled, the optimized stacking conditions need to be met; otherwise, they do not need to be met.

[0051] After step S620, the method may further include the following steps:

[0052] S700, if the stacking position corresponding to the to-be-stacked luggage has not been determined, then set the execution status of all the optimized stacking conditions in the preset stacking conditions to disabled, and enter S200.

[0053] In this embodiment, after traversing all positions in QR, if the placement position corresponding to the luggage to be placed is not determined, the execution status of all optimized placement conditions in the preset placement conditions is set to closed; then, enter S200 to traverse each position in QR again to determine the placement position corresponding to the luggage to be placed.

[0054] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart, the bounding box W of the luggage to be placed corresponding to the luggage to be placed, and the length L of the luggage cart in the Y-axis direction in QR are obtained Y and the width D in the X-axis direction X and the height H in the Z-axis direction Z , and then, along the Y-axis direction according to the size of W, with a step size of ΔL Y traverse the space in the Y-axis direction of the current luggage cart. If W does not coincide with all three-dimensional luggage grids and W meets all preset placement conditions, the position where W is currently located is determined as the placement position corresponding to the luggage to be placed; traverse along the Y-axis, Z-axis, and X-axis directions in sequence, so as to achieve the purpose of determining the placement position corresponding to W.

[0055] Furthermore, when determining the placement position corresponding to the luggage to be placed, it is based on the remaining placement space of the current luggage cart and the size of the luggage to be placed, so that the determined placement position of the luggage to be placed is the best placement position for the current luggage cart; since the judgment condition for the luggage to be placed to coincide with the three-dimensional grid is set, the placement position corresponding to the luggage to be placed fits closely with the already placed luggage, thereby improving the utilization rate of the space of the luggage cart.

[0056] Embodiment 2:

[0057] Based on the method in Embodiment 1, if the placement position corresponding to the luggage to be placed cannot be determined, the placement position corresponding to the luggage to be placed can be further determined by the method in this embodiment. The method may include the following steps:

[0058] Q100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be placed corresponding to the luggage to be placed; wherein, QR includes a plurality of three-dimensional luggage grids corresponding to the already placed luggage.

[0059] In this embodiment, before determining the placement position of the luggage to be placed, it is necessary to identify the already placed luggage on the current luggage cart; the already placed luggage can be identified by means of image recognition or lidar scanning. After identifying the already placed luggage, the already placed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point clouds corresponding to the already placed luggage; it can be understood that each three-dimensional bounding box represents the already placed luggage in the corresponding space.

[0060] For the luggage to be stacked, the size information of the bounding box of the luggage to be stacked corresponding to the luggage to be stacked can be obtained through image recognition; at the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0061] Q200, according to the size of W and the preset traversal rule, sequentially traverse each preset point to be confirmed in QR.

[0062] Q300, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, then enter Q400; otherwise, traverse the next point to be confirmed; where the target point to be confirmed is any preset point to be confirmed.

[0063] Q400, if W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; where the preset stacking conditions include several necessary stacking conditions and several optimization stacking conditions.

[0064] In this embodiment, the method in steps S200 - S620 in Embodiment 1 can be used to sequentially traverse each preset point to be confirmed in QR, which will not be elaborated here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W every time W moves in Embodiment 1.

[0065] Q500, if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then enter Q600.

[0066] In this embodiment, due to the setting of the preset stacking conditions, after traversing all the positions in QR, it is possible that the stacking position corresponding to the luggage to be stacked has not been determined; however, at this time, there is still stacking space in the luggage cart. In order to stack the luggage to be stacked into the luggage cart, a second traversal is required.

[0067] Q600, according to the preset downgrading rule for stacking conditions, downgrade several optimization stacking conditions, and enter Q200.

[0068] Further, the execution status of the necessary stacking conditions is enabled, and the execution status of the optimization stacking conditions includes enabled and disabled.

[0069] In this embodiment, it can be understood that the necessary stacking conditions are the stacking conditions set according to the relevant regulations of civil aviation. For example, the luggage with a smaller volume is placed on top of the luggage with a larger volume, and there will be no situation of throwing the currently to-be-stacked luggage; while the optimized stacking conditions are the optimized stacking conditions set to improve the space utilization rate of the luggage cart or to make the luggage stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions need to be satisfied; otherwise, the optimized stacking conditions do not need to be satisfied.

[0070] Step Q600 includes the following steps:

[0071] Q610, set the execution status of all the optimized stacking conditions in the preset stacking conditions to off, and enter Q200.

[0072] In this embodiment, after traversing all the positions in QR, if the stacking position corresponding to the to-be-stacked luggage is not determined, the execution status of all the optimized stacking conditions in the preset stacking conditions is set to off; then enter S200, and traverse each position in QR again to determine the stacking position corresponding to the to-be-stacked luggage.

[0073] Further, step Q600 may include the following steps:

[0074] 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.

[0075] Q630, according to B, determine the priority of each optimized stacking condition to obtain an optimized stacking condition priority list YB = (YB1, YB2,..., YB j ,..., YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2,..., m - 1; B r is executed before B r+1 .

[0076] Q640, obtain the fourth preset value NM = m.

[0077] Q650, if NM > 0 and the stacking position corresponding to the to-be-stacked luggage cannot be determined, set the execution status of B NM in B to off; update NM = NM - 1; enter Q200.

[0078] In this embodiment, the priority of any necessary stacking condition is higher than that of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0079] It can be understood that after the first traversal, there are various reasons for not being able to determine the stacking position of the luggage to be stacked. Some positions may not meet the necessary stacking conditions, and some positions do not meet the optimized stacking conditions; among those that do not meet the optimized stacking conditions, some do not meet the optimized stacking conditions with a higher priority, and some do not meet the stacking conditions with a lower priority. Therefore, in this embodiment, first, the optimized stacking condition with the lowest priority is closed, and then Q200 is entered to re-traverse each position in QR. If the stacking position corresponding to the luggage to be stacked still cannot be determined, then the optimized stacking condition with the second lowest priority is closed until the stacking position corresponding to the luggage to be stacked is determined.

[0080] Further, after step Q650, the method further includes:

[0081] Q660, if NM ≤ 0 or the stacking position corresponding to the luggage to be stacked is determined, then jump out of the current process.

[0082] In this embodiment, if NM ≤ 0, it means that all optimized stacking conditions have been closed, and then jump out of the current process.

[0083] Further, in Q650, every time an optimized stacking condition is closed, it is judged whether the closed optimized stacking condition is executed during the first traversal. If it is executed, then enter Q200; otherwise, close the next optimized stacking condition and judge again whether the closed optimized stacking condition is executed during the first traversal.

[0084] Through the above method, it can be determined that during the second traversal, the stacking position corresponding to the luggage to be stacked can be directly determined, thereby avoiding excessive traversal times and improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0085] In this embodiment, a three-dimensional coordinate system QR corresponding to the current luggage cart and a luggage bounding box W corresponding to the luggage to be stacked are obtained. According to the size of W and a preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. When W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed. Among them, the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions. If, after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, according to the preset downgrading rule of the stacking conditions, the number of optimized stacking conditions is downgraded, and then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence. In the present invention, since the preset stacking conditions are downgraded, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, and it is easier to determine the stacking position corresponding to the luggage to be stacked. In the case where there is a stacking space, it is ensured that the stacking position of the luggage to be stacked can be determined.

[0086] Embodiment Three:

[0087] Next, a method for determining the stacking position of luggage based on condition downgrading will be introduced with reference to Figure 1 the flowchart of the method for determining the stacking position of luggage based on condition downgrading shown.

[0088] The method for determining the stacking position of luggage based on condition downgrading may include the following steps:

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

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

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

[0092] H200, according to the size of W and a preset traversal rule, traverse each preset point to be confirmed in QR in sequence.

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

[0094] H300. If the stacking position corresponding to the luggage to be stacked is not determined from all the points to be confirmed, then obtain each optimized stacking condition to obtain an optimized stacking condition list B=(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.

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

[0096] H400. According to B, determine the priority of each optimized stacking condition to obtain an optimized stacking condition priority list YB=(YB1, YB2,..., YB j ,..., YB m ); where YB j is the priority corresponding to B j ; YB r > YB r+1 ; r = 1, 2,..., m - 1; B r precedes B r+1 in execution;

[0097] H500. Obtain a fourth preset value NM = m;

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

[0099] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition precedes the optimized stacking condition in execution; and the optimized stacking conditions are also set with execution priorities, and the optimized stacking condition with a higher priority precedes the execution of the stacking condition with a lower priority.

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

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

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

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

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

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

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

[0107] H211, if W meets all the preset stacking conditions, then confirm the target point to be confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, traverse the next point to be confirmed; where the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions.

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

[0109] 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.

[0110] H222, if NUM1 × ΔL Y <L Y -L W, then enter H223; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

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

[0112] In H224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM1 = NUM1 + 1, and enter H222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0113] Furthermore, step H222 also includes: if NUM1×ΔL Y ≥L Y -L W , then enter H225.

[0114] In 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.

[0115] In H226, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ), and enter H222.

[0116] In H227, if NUM3×ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z) At this point, enter H222; otherwise, it is determined that the stacking position corresponding to the luggage to be stacked has not been determined; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0117] Through the above method, it is possible to directly determine the stacking position corresponding to the luggage to be stacked during the secondary traversal, thereby avoiding excessive traversal times and improving the efficiency of determining the stacking position corresponding to the luggage to be stacked.

[0118] 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 coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; where the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the preset downgrading rules for the stacking conditions, several optimized stacking conditions are downgraded, and then according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; in the present invention, due to the downgrading of the preset stacking conditions, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, making it easier to determine the stacking position corresponding to the luggage to be stacked, and ensuring that the stacking position of the luggage to be stacked can be determined in the presence of a stacking space.

[0119] 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 coincide with any three-dimensional luggage grid and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the next point to be confirmed is traversed; where the preset stacking conditions include several necessary stacking conditions and several optimized stacking conditions; if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked cannot be determined, then according to the preset downgrading rules for the stacking conditions, several optimized stacking conditions are downgraded, and then according to the size of W and the preset traversal rules, each preset point to be confirmed in QR is traversed in sequence; in the present invention, due to the downgrading of the preset stacking conditions, the conditions for determining the stacking position corresponding to the luggage to be stacked are relaxed, making it easier to determine the stacking position corresponding to the luggage to be stacked, and ensuring that the stacking position of the luggage to be stacked can be determined in the presence of a stacking space.

[0120] Embodiment 4:

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

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

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

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

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

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

[0127] T210, obtain the first preset value 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.

[0128] T220, if NUM1 × ΔL Y <L Y -L W , then enter T230; where L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

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

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

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

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

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

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

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

[0136] T250, if NUM2 × ΔH Z <H Z -H W , then enter T260; otherwise, enter T270; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0137] T260, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X +NUM3 × ΔD X , W Y , W Z +NUM2 × ΔH Z ) and enter T220.

[0138] T270, if NUM3 × ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the middle position QE W =(W X +NUM3 × ΔDX , 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; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

[0139] In this embodiment, the traversal order is to traverse along the Y-axis direction first. When the coordinates corresponding to the Z-axis and Y-axis remain unchanged, if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by ΔH Z , and then continue to traverse along the Y-axis again. If the Z-axis NUM2 × ΔH Z ≥ H Z - H W , it means that the traversal in the Z-axis direction is also completed. At this time, the coordinate of the X-axis needs to be changed, and the traversal in the Y-axis direction continues; that is, traverse along the Y-axis direction first, then along the Z-axis direction, and finally along the X-axis direction; it can be understood as a three-layer loop to achieve the traversal of the entire current luggage cart space; the effect of this traversal method is as follows:

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

[0141] T300, if after traversing all the preset points to be confirmed, the stacking position corresponding to the luggage to be stacked has not been determined, then obtain the specified points to be confirmed to obtain the specified points to be confirmed list C = (C1, C2,..., C p ,..., C q ), p = 1, 2,..., q; where C p is the p-th specified point to be confirmed obtained, and q is the number of specified points to be confirmed obtained; when W is at the specified point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions and does not meet the preset optimized stacking conditions.

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

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

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

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

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

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

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

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

[0150] Embodiment 5:

[0151] In the above Embodiment 1, all optimized stacking conditions are closed during the secondary traversal. The stacking position corresponding to the luggage to be stacked determined in this way may not meet many optimized stacking conditions. Based on this, the following method is provided to determine a more suitable stacking position:

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

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

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

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

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

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

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

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

[0160] R221. Obtain the first preset value 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.

[0161] 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.

[0162] Further, step R222 may also include: If NUM1 × ΔL Y ≥L Y -L W , then enter R225;

[0163] R225. If NUM2 × ΔH Z <H Z -H W , then enter R226; otherwise, enter R227. Among them, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0164] R226. Update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X +NUM3 × ΔD X , W Y , W Z +NUM2 × ΔH Z ), and enter R222.

[0165] R227. If NUM3 × ΔD X <D X -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at the middle position QE W =(W X +NUM3 × ΔDX , 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; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

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

[0167] In R224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM1 = NUM1 + 1, enter R222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

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

[0169] In R300, if the stacking position corresponding to the luggage to be stacked has not been 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.

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

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

[0172] R400. According to B, determine the priority of each optimized stacking condition to obtain the optimized stacking condition priority list YB = (YB1, YB2,..., YB j ,..., YB m ); where YB j is the corresponding priority of B j ; YB r > YB r+1 ; r = 1, 2,..., m - 1; B r is executed before B r+1 .

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

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

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

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

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

[0178] R610, if NM ≤ 0, then determine that the placement position corresponding to the luggage to be placed is not determined, and jump out of the current process.

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

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

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

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

[0183] In this embodiment, it can be understood that D NM is the list of the NM-th intermediate points to be confirmed obtained by obtaining the intermediate points to be confirmed corresponding to B NM There are only a small number of points to be confirmed in D NM Therefore, the time consumed during traversal is short, so that the efficiency of determining the placement position corresponding to the luggage to be placed can be improved; in addition, the intermediate points to be confirmed in D NM are arranged in the order from the front to the back during the first traversal.

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

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

[0186] Embodiment Six:

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

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

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

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

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

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

[0193] E221, obtain the first preset value 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.

[0194] E222, if NUM1×ΔL Y <L Y -L W , then enter E223; where L Y is the length of the luggage cart in the Y-axis direction in QR, and L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

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

[0196] E224, if W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y , update NUM1 = NUM1 + 1, and enter E222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0197] Further, step E222 may further include: if NUM1×ΔL Y ≥L Y -L W , then enter E225.

[0198] E225, if NUM2×ΔH Z <H Z -H W , then enter E226; otherwise, enter E227; where ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0199] E226, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter E222.

[0200] E227, if NUM3×ΔD X <DX -D W , update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at 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; where ΔD X is the third preset distance; D X is the width of the luggage cart in the X-axis direction in QR.

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

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

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

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

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

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

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

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

[0209] E610, obtain each three-dimensional baggage grid that coincides with W after being moved downward by ΔHA to obtain the first list of three-dimensional baggage grids G = (G1, G2,..., G a ,..., G b ); where a = 1, 2,..., b; among them, G a is the a-th three-dimensional baggage grid that coincides with W after being moved downward by ΔHA, and b is the number of three-dimensional baggage grids that coincide with W after being moved downward by ΔHA.

[0210] In this embodiment, if after moving W downward by the fourth preset distance ΔHA, it coincides with several three-dimensional baggage grids, it means that there are stacked baggages within the range of ΔHA below the current baggage to be stacked. At this time, each three-dimensional baggage grid that coincides with W after being moved downward by ΔHA can be obtained.

[0211] E620, obtain the projected area of each three-dimensional baggage grid in G on the bottom surface of W to obtain the corresponding projected area list TG of G = (TG1, TG2,..., TG a ,..., TG b ); where TG a is the projected area of G a on the bottom surface of W.

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

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

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

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

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

[0217] E652. Obtain each three-dimensional luggage grid that coincides with W after moving ΔHB in the preset direction along the Y-axis of QR to obtain a second list of three-dimensional luggage grids F = (F1, F2,..., F c ,..., F d ), where c = 1, 2,..., d; among them, F c is the c-th three-dimensional luggage grid that coincides with W after moving ΔHB in the preset direction along the Y-axis of QR, and d is the number of three-dimensional luggage grids that coincide with W after moving ΔHB in the preset direction along the Y-axis of QR.

[0218] E653. Obtain the projected area of each three-dimensional luggage grid in F on the side of W perpendicular to the Y-axis to obtain a list of projected areas TF corresponding to F = (TF1, TF2,..., TF c ,..., TF d ); among them, TF c is the projected area of F c on the side of W perpendicular to the Y-axis.

[0219] E654. According to TF, determine the total projected area ZF corresponding to F = ∑ d c＝1 TF c .

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

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

[0222] Based on this, through the methods in steps E651 - E655, it is possible to determine whether one side of the current piece of luggage to be stacked along the Y-axis is adjacent to one side of the stacked luggage when the current piece of luggage to be stacked is at the target point to be confirmed, rather than being adjacent to the handle of the stacked luggage. This can avoid determining the stacking position corresponding to the current piece of luggage between the handles of two stacked pieces of luggage, resulting in a relatively large space remaining on both sides of the current piece of luggage, which may have a certain impact on subsequent luggage stacking. It can also make the stacking of luggage more compact and improve the space utilization rate of the luggage cart.

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

[0224] Embodiment Seven:

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

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

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

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

[0229] P200. If the luggage to be stacked is the second type of luggage and the first type of luggage has been stacked in the first subspace, then according to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in sequence.

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

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

[0232] 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.

[0233] P222. If NUM1 × ΔL Y <L Y -L W ,then proceed to 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.

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

[0235] P224. If W coincides with at least one of several three-dimensional luggage grids or W does not meet at least one of all the preset stacking conditions, then move W in the Y-axis direction by ΔL Y ,update NUM1 = NUM1 + 1, and proceed to P222; otherwise, determine the position where W is currently located as the stacking position corresponding to the luggage to be stacked.

[0236] Further, step P222 may also include: If NUM1 × ΔL Y ≥L Y -LW , then enter P225.

[0237] P225, if NUM2 × ΔH Z <H Z -H W , then enter E226; otherwise, enter E227; where, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in QR.

[0238] P226, update NUM1 = 0, update NUM2 = NUM2 + 1, place W at the middle position QE W =(W X + NUM3 × ΔD X , W Y , W Z + NUM2 × ΔH Z ), and enter P222.

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

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

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

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

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

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

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

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

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

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

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

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

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

[0252] 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 position in the luggage cart, and the situation where hard luggage presses on soft luggage will not occur. It should be noted that in this embodiment, first-type luggage can press on first-type luggage, that is, soft luggage can press on soft luggage.

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

[0254] Embodiment Eight:

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

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

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

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

[0259] 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 the virtual bounding box is adjacent to the four sides of the current luggage cart; the sides of adjacent virtual bounding boxes have the same size as the sides of the current luggage cart.

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

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

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

[0263] F310, 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.

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

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

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

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

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

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

[0270] In this embodiment, the method in step F340 is the same as that in step S500 in the first embodiment, and will not be elaborated here.

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

[0272] F351, if NUM2×ΔH Z <H Z -H W , then update NUM2 = NUM2 + 1.

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

[0274] F352, Place W at 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 is the third preset distance.

[0275] F353, if W does not coincide with the virtual bounding box, then enter F340; otherwise, update NUM2 = 0, update NUM3 = NUM3 + 1, place W at 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.

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

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

[0278] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the bounding box W of the luggage to be stacked are obtained. Among them, QR includes three-dimensional luggage grids corresponding to several pieces of stacked luggage. A virtual bounding box of the virtual luggage is set in QR. Among them, the virtual bounding box is located outside the current luggage cart, and the virtual bounding box is adjacent to the four sides of the current luggage cart. The sizes of the adjacent sides of the virtual bounding box and the sides of the current luggage cart are the same. According to the size of W and the preset traversal rule, each preset point to be confirmed in QR is traversed in turn. Among them, when W is at the target point to be confirmed, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box, and W meets all the preset stacking conditions, then the target point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; thus, on the premise of ensuring that the space range of the luggage cart is not exceeded, the stacking position corresponding to the luggage to be stacked is determined.

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

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

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

[0282] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

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

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

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

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

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

[0288] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: at least one of the aforementioned processors, at least one of the aforementioned memories, and a bus connecting different system components (including the memory and the processor).

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

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

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

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

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

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

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

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

Claims

1. A method for determining baggage stacking location based on conditional degradation, characterized in that: The method comprises the following steps: H100, obtaining 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 a number of three-dimensional luggage grids corresponding to the stacked luggage; H200, according to the size of W and the preset traversal rules, traverse each preset point to be confirmed in QR in turn; H300, if the stacking position corresponding to the luggage to be stacked is not determined from all the points to be confirmed, then obtain each optimized stacking condition to obtain an optimized stacking condition list B = (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; 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 );YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Before B r+1 implement; H500, obtain a fourth preset value NM=m; H600, if NM>0 and the stacking position corresponding to the baggage to be stacked cannot be determined, then B in B NM Set the execution status to closed; update NM=NM-1; enter H200.

2. The method for determining luggage stacking position based on conditional degradation according to claim 1, characterized in that: After step H600, the method further includes: H700, if NM≤0 or the stacking position corresponding to the luggage to be stacked is determined, then the current processing is jumped out.

3. The method for determining luggage stacking position based on conditional degradation according to claim 1, characterized in that: Step H200 includes the following steps: H210, when W is at the target point to be confirmed, if W does not overlap with any three-dimensional baggage grid, then enter H211; otherwise, traverse the next point to be confirmed; wherein the target point to be confirmed is any preset point to be confirmed; H211, if W satisfies all preset stacking conditions, the target to-be-confirmed point is confirmed as the stacking position corresponding to the to-be-confirmed luggage; otherwise, the next to-be-confirmed point is traversed; wherein the preset stacking conditions include a number of necessary stacking conditions and a number of optimized stacking conditions.

4. The method for determining luggage stacking position based on conditional degradation according to claim 1, characterized in that: Step H200 includes the following steps: 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; 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 a first preset distance; H223, determine whether W coincides with at least one of the three-dimensional luggage grids, and determine whether W satisfies all preset stacking conditions; H224: If W coincides with at least one of the three-dimensional luggage grids or W does not satisfy at least one of the preset stacking conditions, move W along the Y axis by ΔL. Y , update NUM1=NUM1+1, and enter H222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

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

6. The method for determining luggage stacking position based on conditional degradation according to claim 5, characterized in that: Step H222 also includes: if NUM1×ΔL Y ≥L Y -L W , then enter H225; 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 of QR; H226, update NUM1=0, update NUM2=NUM2+1, put W in the middle position QE W =(W X +NUM3×ΔD X , W Y , W Z +NUM2×ΔH Z ) and enter H222; 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.

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

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

Images