Luggage transfer and palletizing method and device, storage medium and electronic equipment

Abstract

The application discloses a kind of luggage transfer and stacking method, device, storage medium and electronic equipment, the method is applied to civil aviation luggage transfer field, the method includes: the first luggage information and first image of luggage are collected, to identify the kind information and state information of luggage;In the case where the extraction operation is executed to luggage, and the second luggage information of luggage is collected;In the case where first luggage information and second luggage information are same, the first point cloud data of luggage is collected;Wheel orientation information determined according to first point cloud data is adjusted to the luggage;Second point cloud data is collected for the stacking area of luggage equipment, and target placement position is determined according to first point cloud data, second point cloud data and kind information, and the adjusted luggage is transported to target placement position by omnidirectional fork picking robot.The application solves the problems of high labor intensity, low efficiency and wrong transportation of luggage in the related art luggage transfer business scenario.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of civil aviation luggage transfer, in particular to a luggage transfer and stacking method and device, a storage medium and an electronic device. BACKGROUND

[0002] In the field of luggage automation transfer, the current transfer and stacking system is often too simple in coping with non-standard materials, and fails to fully consider the state and type of luggage, resulting in a stacking result that is either too loose to affect stability, or too dense to sacrifice space utilization, making it difficult to meet the growing demand for luggage processing. In addition, the current automatic stacking system lacks the ability to perceive and make intelligent decisions in dynamic environments, and the stacking system planning is only based on preset conditions, making it difficult to respond to real-time changes, resulting in frequent need for manual intervention and reducing operational efficiency. In addition, there are defects in information management, with poor correlation between transfer data and luggage information, affecting quality tracing and system optimization, which seriously restricts the efficiency of luggage transfer.

[0003] In view of the problems of high labor intensity of workers, low efficiency of luggage transfer and luggage misdelivery in the related art, an effective solution has not yet been proposed. SUMMARY

[0004] The main purpose of the present application is to provide a luggage transfer and stacking method, device, storage medium and electronic device to solve the problems of high labor intensity of workers, low efficiency of luggage transfer and luggage misdelivery in the related art.

[0005] In order to achieve the above object, according to an aspect of the present application, a luggage transfer and stacking method is provided, which is applied to a luggage transfer and stacking system, and the luggage transfer and stacking system at least comprises a lower layer pull distance conveying line, a lifting mechanism, an upper layer conveying line, a luggage tool, and an omnidirectional fork taking robot. The method comprises: when detecting that a luggage enters the luggage transfer and stacking system, collecting first luggage information of the luggage and a first image of the luggage, and identifying category information and state information of the luggage according to the first image; determining whether to perform a picking operation on the luggage according to the first luggage information, the category information and the state information, and in the case of performing the picking operation on the luggage, picking the luggage to the lower layer pull distance conveying line, and collecting second luggage information of the luggage; in the case that the first luggage information and the second luggage information are the same, lifting the luggage to the upper layer conveying line through the lifting mechanism, transporting the luggage to a material taking platform through the upper layer conveying line, and collecting first point cloud data of the luggage; calculating wheel orientation information according to the first point cloud data, adjusting the luggage to a preset luggage posture according to the wheel orientation information, and obtaining an adjusted luggage; collecting second point cloud data for a stacking area of the luggage tool, determining a target placement position of the luggage in the stacking area of the luggage tool according to the first point cloud data, the second point cloud data and the category information, and transporting the adjusted luggage to the target placement position through the omnidirectional fork taking robot.

[0006] Further, second point cloud data is collected for the stacking area of the baggage equipment, the target placement position of the baggage in the stacking area of the baggage equipment is determined according to the first point cloud data, the second point cloud data and the category information, and the adjusted baggage is carried to the target placement position by the omnidirectional forklift robot, including: determining baggage size information according to the first point cloud data, and determining stack type information according to the second point cloud data; the stack type information is information describing the stacking shape of the baggage in the stacking area; the target placement position is determined according to the baggage size information, the category information, the stack type information, a preset three-dimensional model and a preset stacking rule, wherein the preset stacking rule is determined based on the stacking stability of the baggage and the space utilization rate of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; an obstacle avoidance algorithm is used to generate the motion trajectory of the omnidirectional forklift robot according to the current position of the baggage and the target placement position, wherein the obstacle avoidance algorithm is used to calculate the current position of the baggage and the target placement position collected every preset time length to obtain the motion trajectory; the baggage coordinate information and the stacking action sequence are generated according to the target placement position and the motion trajectory based on a metronome in the baggage transfer and stacking system; the omnidirectional forklift robot is controlled to carry the adjusted baggage to the target placement position in the stacking area according to the baggage coordinate information and the stacking action sequence.

[0007] Further, after the omnidirectional forklift robot is controlled to carry the adjusted baggage to the target placement position in the stacking area according to the baggage coordinate information and the stacking action sequence, the method further includes: determining the actual placement position of the baggage according to the category information, the size information and the stack type information; calculating a safety offset according to the size information and the device information of the omnidirectional forklift robot, wherein the safety offset is used to prevent the omnidirectional forklift robot and the baggage equipment from colliding; determining the position offset of the baggage according to the safety offset, the target placement position and the actual placement position; in the case that the position offset does not belong to a preset numerical range, the baggage is adjusted by the omnidirectional forklift robot until the position offset between the actual placement position of the baggage and the target placement position is less than or equal to the safety offset.

[0008] Further, the method further comprises: in a case where the position offset belongs to the preset numerical range, determining remaining space information of the luggage carrier according to the second point cloud data and the preset three-dimensional model; judging whether the stacking area can continue to stack the luggage according to the remaining space information; in a case where the remaining space information indicates that the luggage can continue to be stacked, judging whether to adjust other luggage in a preset range of the luggage by the obstacle avoidance algorithm, so that the stacking area can continue to stack the luggage and the luggage received by the luggage transfer and stacking system; in a case where the remaining space information indicates that the luggage cannot continue to be stacked, ending the operation of stacking the luggage and the luggage received by the luggage transfer and stacking system.

[0009] Further, the first luggage information of the luggage and the first image of the luggage are collected, and the type information and the state information of the luggage are identified according to the first image, comprising: collecting the first luggage information of the luggage by radio frequency identification technology, wherein the luggage information at least includes luggage identification information; collecting the surface image of the luggage by a two-dimensional camera in a preset area to obtain the first image; wherein a constant light source is deployed in the preset area; storing the first luggage information and the first image to a preset storage space; identifying the first image by using a preset image recognition algorithm to obtain the type information and the state information, wherein the state information includes abnormal information, standing information and basket loading information.

[0010] Further, determining whether to perform the extraction operation on the luggage according to the first luggage information, the type information and the state information comprises: determining whether the luggage satisfies a first extraction condition according to the flight information in the first luggage information to obtain a first determination result; determining whether the luggage satisfies a second extraction condition according to the type information and the state information to obtain a second determination result; determining whether the luggage satisfies a third extraction condition according to the number of luggage in the luggage transfer and stacking system in a preset time period to obtain a third determination result; and determining whether to perform the extraction operation on the luggage according to the first determination result, the second determination result and the third determination result.

[0011] Further, the second extraction condition at least includes one of the following: condition 1: the type information indicates that the luggage belongs to a preset type, and the state information indicates that the luggage belongs to a preset state; condition 2: the abnormal information in the state information indicates that the luggage does not have the abnormality of the pull rod extending out; condition 3: the basket loading information in the state information indicates that the luggage is in a preset basket loading state; and condition 4: the standing information in the state information indicates that the luggage is in a preset pose.

[0012] In order to achieve the above object, according to another aspect of the present application, a luggage transfer and stacking device is provided, the device comprising a luggage transfer and stacking system, the luggage transfer and stacking system comprising at least: a lower layer pull distance conveying line, a lifting mechanism, an upper layer conveying line, a luggage tool, and an omnidirectional fork taking robot, the device comprising: an identification unit configured to, in a case where luggage is detected to enter the luggage transfer and stacking system, acquire first luggage information of the luggage and a first image of the luggage, and identify category information and state information of the luggage according to the first image; an extraction unit configured to determine whether to perform an extraction operation on the luggage according to the first luggage information, the category information, and the state information, in a case where the extraction operation is performed on the luggage, extract the luggage to the lower layer pull distance conveying line, and acquire second luggage information of the luggage; a lifting unit configured to, in a case where the first luggage information and the second luggage information are the same, lift the luggage to the upper layer conveying line by the lifting mechanism, transport the luggage to a taking platform by the upper layer conveying line, and acquire first point cloud data of the luggage; an adjustment unit configured to calculate wheel orientation information according to the first point cloud data, adjust the luggage to a preset luggage posture according to the wheel orientation information, and obtain an adjusted luggage; and a carrying unit configured to acquire second point cloud data for a stacking area of the luggage tool, determine a target placement position of the luggage in the stacking area of the luggage tool according to the first point cloud data, the second point cloud data, and the category information, and carry the adjusted luggage to the target placement position by the omnidirectional fork taking robot.

[0013] Further, the carrying unit comprises: a first determining sub-unit, configured to determine luggage size information according to the first point cloud data, and determine pile type information according to the second point cloud data; wherein the pile type information is information describing the stacking shape of the luggage in the stacking area, and the preset stacking rule is determined based on the stacking stability of the luggage and the space utilization of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; a second determining sub-unit, configured to determine the target placement position according to the luggage size information, the category information, the pile type information, the preset three-dimensional model and the preset stacking rule, wherein the preset stacking rule is determined based on the stacking stability of the luggage and the space utilization of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; a first generating sub-unit, configured to generate the motion trajectory of the omnidirectional forklift robot according to the current position of the luggage and the target placement position by using an obstacle avoidance algorithm, wherein the obstacle avoidance algorithm is used to calculate the current position of the luggage and the target placement position collected every preset time length to obtain the motion trajectory; a second generating sub-unit, configured to generate luggage coordinate information and stacking action sequence according to the target placement position and the motion trajectory based on a tact generator in the luggage transfer and stacking system; and a carrying sub-unit, configured to control the omnidirectional forklift robot to carry the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence.

[0014] Further, the carrying unit further comprises: a third determining sub-unit, configured to determine the actual placement position of the luggage according to the category information, the size information and the pile type information after the omnidirectional forklift robot carries the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence; a calculating sub-unit, configured to calculate a safety offset according to the size information and device information of the omnidirectional forklift robot, wherein the safety offset is used to prevent the omnidirectional forklift robot and the luggage from colliding; a fourth determining sub-unit, configured to determine the position offset of the luggage according to the safety offset, the target placement position and the actual placement position; and an adjusting sub-unit, configured to adjust the luggage by the omnidirectional forklift robot until the position offset between the actual placement position of the luggage and the target placement position is less than or equal to the safety offset, in the case that the position offset does not belong to a preset numerical range.

[0015] Further, the carrying unit further comprises: a fifth determination subunit, configured to, in a case where the position offset belongs to the preset numerical range, determine remaining space information of the luggage according to the second point cloud data and the preset three-dimensional model; a first judgment subunit, configured to determine whether the stacking area can continue to stack the luggage according to the remaining space information; a first processing subunit, configured to, in a case where the remaining space information indicates that the luggage can continue to be stacked, determine whether to adjust other luggage in a preset range of the luggage through the obstacle avoidance algorithm, so that the stacking area can continue to stack the luggage and the luggage received by the luggage transfer and stacking system; and a second processing subunit, configured to, in a case where the remaining space information indicates that the luggage cannot continue to be stacked, end the operation of stacking the luggage and the luggage received by the luggage transfer and stacking system.

[0016] Further, the identification unit comprises: a first acquisition subunit, configured to acquire first luggage information of the luggage through radio frequency identification technology, wherein the luggage information at least comprises luggage identification information; a second acquisition subunit, configured to acquire a surface image of the luggage through a two-dimensional camera in a preset area to obtain the first image; wherein a constant light source is arranged in the preset area; a storage subunit, configured to store the first luggage information and the first image to a preset storage space; and an identification subunit, configured to identify the first image through a preset image identification algorithm to obtain the category information and the state information, wherein the state information comprises abnormal information, standing information, and basket loading information.

[0017] Further, the extraction unit comprises: a second judgment subunit, configured to determine whether the luggage meets a first extraction condition according to flight information in the first luggage information to obtain a first judgment result; a third judgment subunit, configured to determine whether the luggage meets a second extraction condition according to the category information and the state information to obtain a second judgment result; a fourth judgment subunit, configured to determine whether the luggage meets a third extraction condition according to a number of the luggage in the luggage transfer and stacking system within a preset time period to obtain a third judgment result; and a sixth determination subunit, configured to determine whether to perform an extraction operation on the luggage according to the first judgment result, the second judgment result, and the third judgment result.

[0018] Further, the second extraction condition at least comprises one of the following: condition 1: the category information indicates that the luggage belongs to a preset category, and the state information indicates that the luggage belongs to a preset state; condition 2: the abnormal information in the state information represents that the luggage does not have an abnormality of a pull rod extending out; condition 3: the basket loading information in the state information indicates that the luggage is in a preset basket loading state; and condition 4: the standing information in the state information indicates that the luggage is in a preset pose.

[0019] To achieve the above object, according to an aspect of the present application, a computer program product is provided, comprising a computer program which, when executed by a processor, implements any one of the above-mentioned baggage transfer and stacking methods, and the steps of the baggage transfer and stacking methods in various embodiments of the present application.

[0020] To achieve the above object, according to an aspect of the present application, a computer readable storage medium is provided, comprising stored computer instructions, wherein the computer instructions, when executed by a processor, implement any one of the above-mentioned baggage transfer and stacking methods.

[0021] To achieve the above object, according to an aspect of the present application, an electronic device is provided, comprising one or more processors and a memory, the memory being configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement any one of the above-mentioned baggage transfer and stacking methods.

[0022] By the present application, the following steps are adopted: when it is detected that baggage enters the baggage transfer and stacking system, first baggage information of the baggage and a first image of the baggage are collected, and category information and state information of the baggage are identified according to the first image; whether to perform a picking operation on the baggage is determined according to the first baggage information, the category information and the state information, and in the case of performing the picking operation on the baggage, the baggage is picked to the lower layer of the conveying line, and second baggage information of the baggage is collected; in the case that the first baggage information and the second baggage information are the same, the baggage is lifted to the upper layer of the conveying line by the lifting mechanism, the baggage is transported to a picking platform by the upper layer of the conveying line, and first point cloud data of the baggage is collected; wheel orientation information is calculated according to the first point cloud data, the baggage is adjusted to a preset baggage posture according to the wheel orientation information, and an adjusted baggage is obtained; a target placement position of the baggage in a stacking area of a baggage loading device is determined according to the first point cloud data and the category information, and the adjusted baggage is carried to the target placement position by an omnidirectional fork picking robot, thereby solving the problems of high labor intensity of workers, low baggage transfer efficiency and baggage misdelivery in the baggage transfer business scenario in the related art.

[0023] Through preliminary collection of the identification information and the surface image of the luggage, the technical effect of initial confirmation of the luggage information and state is achieved. Meanwhile, through analysis of the first image, the type and state of the luggage are identified, the discrimination of whether the luggage is suitable for automatic processing is realized, and the technical effects of improving the luggage processing efficiency and reducing manual intervention are further achieved. On the basis of information consistency confirmation, through precise control of the lifting mechanism, the luggage to be transferred is lifted and smoothly transferred to the upper conveying line, realizing the automation and efficiency of luggage transfer, and enhancing the throughput capacity of the luggage transfer and stacking system. Further, through the first point cloud data obtained by the three-dimensional camera, the luggage wheel orientation information is calculated, and the posture adjusting and turning mechanism is used to adjust the luggage to a standardized posture, realizing the unification of the luggage posture and ensuring the smooth progress of the subsequent stacking operation. Finally, according to the first point cloud data and the type information, the adjusted luggage is accurately transported to the target position of the luggage container by the omnidirectional fork taking robot, realizing intelligent stacking, not only improving the space utilization rate, but also ensuring the stability and safety of stacking, greatly improving the overall efficiency and technical level of luggage automatic processing. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The accompanying drawings do not constitute an inappropriate limitation on the present application. In the drawings:

[0025] Figure 1 is a flowchart of a luggage transfer and stacking method according to embodiment one of the present application;

[0026] Figure 2 is a schematic diagram of an optional luggage posture adjusting method after stacking according to embodiment one of the present application;

[0027] Figure 3 is a schematic diagram of a complete process of luggage transfer according to embodiment one of the present application;

[0028] Figure 4 is a schematic diagram of a luggage transfer and stacking device according to embodiment two of the present application;

[0029] Figure 5 is a schematic diagram of a luggage transfer and stacking electronic device according to embodiment five of the present application. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] It should be noted that the user information (including but not limited to user equipment information, user personal information, collected data, used data, generated data, processed data, etc.) and data (including but not limited to data for analysis, stored data, displayed data, collected information, used information, generated information, processed information, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of related data comply with relevant laws, regulations and standards of relevant countries and regions, necessary security measures are taken, do not violate public order and good customs, and provide corresponding operation portal for user to choose authorization or refusal. For example, interfaces are provided between the system and related users or institutions, and before obtaining the relevant information, the interface needs to send an acquisition request to the aforementioned user or institution, and after receiving the consent information feedback from the aforementioned user or institution, the relevant information is obtained.

[0032] It should be noted that the present application provides a corresponding operation portal for the user to choose to agree or refuse the automatic decision result; if the user chooses to refuse, the expert decision process is entered.

[0033] In order to enable personnel in the art to better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should be within the scope of protection of the present application.

[0034] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] For ease of description, the following describes some nouns or terms related to the embodiments of the present application:

[0036] Radio Frequency Identification (RFID) technology is a technology that uses radio frequency signals and spatial coupling (inductive or electromagnetic field) to achieve non-contact two-way communication for identification and data exchange purposes. This technology is widely used in industries such as logistics, warehousing, and retail for automated management and tracking of items. In the baggage transfer and stacking system provided in Embodiment One, the RFID / OCR identification gate is an identification device that uses RFID or Optical Character Recognition (OCR) technology. At the same time, RFID identification mechanisms or OCR identification mechanisms are deployed in the baggage transfer and stacking system to identify and extract baggage information.

[0037] The lower layer of the stretch conveying line is used to receive the baggage extracted by the extraction mechanism in the baggage transfer and stacking system provided in Embodiment One, so as to be subsequently conveyed to the lifting mechanism for processing. The lower layer of the stretch conveying line can be continuous or composed of multiple segments, and specific mechanisms can be used between each segment to control the flow speed and direction of the baggage to ensure smooth and orderly movement of the baggage before being extracted, inspected, or prepared for higher-level conveying.

[0038] The lifting mechanism is used to change the height of the baggage in the baggage transfer and stacking system provided in Embodiment One, i.e., to lift the baggage from the lower layer of the stretch conveying line to the upper layer of the conveying line.

[0039] The upper layer of the conveying line is used to receive the baggage transmitted by the lifting mechanism in the baggage transfer and stacking system provided in Embodiment One, and to transmit the baggage to the picking platform so that the omnidirectional fork picking robot can accurately and accurately grasp or stack the baggage.

[0040] The baggage carrier refers to a container or facility used to load, stack, protect, and transport baggage. In the baggage transfer and stacking system provided in Embodiment One, the baggage carrier can be a specially designed trolley, pallet, or box to accommodate different aircraft models.

[0041] The omnidirectional fork picking robot is an automated device that can move and operate in a specific direction. In the baggage transfer and stacking system provided in Embodiment One, it is designed to accurately and safely grasp and place baggage from different angles and positions. The omnidirectional fork picking robot can flexibly bypass obstacles, adjust the working path according to the real-time environment, and achieve high-efficiency baggage stacking and transfer tasks, especially suitable for complex operating environments that require high flexibility and accuracy.

[0042] The host computer system refers to a system in the baggage transfer and stacking system provided in Embodiment One, which is responsible for receiving data from hardware mechanisms (e.g., RFID / OCR identification door, lower layer distance conveying line, upper layer conveying line, lifting mechanism, baggage loading tool, omnidirectional fork robot, etc.), data from other external business systems, data generated by algorithms (including algorithms related to the baggage transfer and stacking system, such as algorithms for stacking baggage to the stacking area of the baggage loading tool, etc.), performing data analysis, processing and decision making, and sending instructions to the hardware mechanisms to control the actions of the hardware mechanisms. For example, the host computer system can be used to control the extraction and transfer of baggage to the material taking platform, and to stack the baggage to the stacking area of the baggage loading tool, and to push the data generated during the stacking process to other systems.

[0043] Embodiment One

[0044] The application will be described in conjunction with the preferred implementation steps, Figure 1 is a flowchart of the baggage transfer and stacking method provided according to Embodiment One of the present application, as Figure 1 shown, the method comprises the following steps:

[0045] Step S101, when detecting that the baggage enters the baggage transfer and stacking system, collecting the first baggage information of the baggage and the first image of the baggage, and identifying the type information and the state information of the baggage according to the first image.

[0046] In Embodiment One, when the baggage enters the baggage transfer and stacking system, the system starts the information collection process, collects the image of the baggage, and identifies the type information and the state information of the baggage according to the first image. For example, the RFID / OCR identification door reads the identification information of the baggage, i.e., the first baggage information described above, including but not limited to the baggage plate number. Then, the baggage passes through the vision door, and the first image of the baggage is captured by the two-dimensional camera to capture the surface features of the baggage. The host computer system analyzes the received first image to determine the type information of the baggage, such as hard or soft; at the same time, the state information of the baggage is evaluated to detect whether there is an abnormality (e.g., frame abnormality, pull rod not retracted, etc.). The above steps ensure that the system can perform subsequent baggage lifting operations based on the type and state information of the baggage.

[0047] Step S102, determining whether to perform an extraction operation on the baggage according to the first baggage information, the type information and the state information, and in the case of performing an extraction operation on the baggage, extracting the baggage to the lower layer distance conveying line and collecting the second baggage information of the baggage.

[0048] In the first embodiment, according to the first luggage information obtained by the RFID / OCR identification door, combined with the type information and state information identified by the two-dimensional camera, the host computer system evaluates whether the luggage meets the extraction standard. If the luggage meets the extraction standard, it is considered extractable, and the extraction operation is triggered to move the luggage from the airport transfer line to the lower layer of the pull distance conveying line. In this process, the RFID identification mechanism or the OCR identification mechanism in the luggage transfer and stacking system reads the luggage identification information of the luggage again, collects the second luggage information, and performs information consistency verification to ensure the accuracy and reliability of the data, providing necessary information support for subsequent automatic processes. This series of steps reflects the strict control and information management of the luggage transfer and stacking system on the extraction of the luggage, ensuring the accuracy and safety of the luggage handling.

[0049] Step S103, in the case that the first luggage information and the second luggage information are the same, the luggage is lifted to the upper layer conveying line by the lifting mechanism, transported to the material taking platform by the upper layer conveying line, and the first point cloud data of the luggage is collected.

[0050] In the first embodiment, when the host computer system confirms that the first luggage information and the second luggage information are consistent, the luggage obtains further processing permission. In an optional embodiment, if the RFID identification mechanism or the OCR identification mechanism fails to read, or the first luggage information and the second luggage information are not the same, the luggage is pushed to the airport transfer line by the discharge push plate, waiting for manual processing.

[0051] Subsequently, the lifting mechanism starts to smoothly lift the luggage from the lower layer of the pull distance conveying line to the upper layer conveying line connected thereto. The luggage is transported to the designated material taking platform area through the upper layer conveying line. At this time, the three-dimensional camera above the lifting mechanism is aligned with the luggage, and the first point cloud data of the luggage is collected to obtain the accurate three-dimensional size and spatial pose information of the luggage. This process ensures the accurate flow of the luggage in the luggage transfer and stacking system and the acquisition of key data required for subsequent stacking operations, providing a necessary basis for the path planning and fork taking action of the omnidirectional fork taking robot.

[0052] Step S104, according to the first point cloud data, the wheel orientation information is calculated, and the luggage is adjusted to the preset luggage posture according to the wheel orientation information to obtain the adjusted luggage.

[0053] In the first embodiment, based on the collected first point cloud data, the host computer system analyzes the spatial pose of the luggage and obtains the wheel orientation information of the luggage. If it is detected that the wheel orientation does not meet the preset requirements (for example, the wheels are not oriented in the preset direction), a pose adjustment steering instruction is generated and sent to the host computer system, and the host computer system receives the pose adjustment steering instruction and activates the pose adjustment steering mechanism. The mechanism rises from the lower part of the fork supporting table, lifts the luggage and performs a rotating action to ensure that the luggage is adjusted to a standardized pose. After completing the pose adjustment, the luggage is in a preset standard state, i.e., it meets the conditions for subsequent omnidirectional forklift robots to fork and stack. This process embodies the precise control of the system on the luggage pose, ensuring the standardization of the luggage handling process and the smooth operation of the robot.

[0054] In step S105, second point cloud data is collected for the stacking area of the luggage equipment, and the target placement position of the luggage in the stacking area of the luggage equipment is determined based on the first point cloud data, the second point cloud data and the category information. The adjusted luggage is transported to the target placement position by the omnidirectional forklift robot.

[0055] In the first embodiment, after adjusting the pose of the luggage on each material taking platform, the omnidirectional forklift robot is sent a current material taking platform luggage positioning instruction, and the omnidirectional forklift robot sends a shooting instruction to the stacking three-dimensional camera installed above the luggage equipment to collect second point cloud data of the current stacking area. The second point cloud data provides real-time three-dimensional spatial information for the system, covering the accurate positions, poses and adjacent relationships of all stacked luggage, realizing real-time monitoring of the stacking area and accurate acquisition of stacking type information, and providing reliable data support for intelligent decision-making of stacked luggage.

[0056] Then, according to the first point cloud data of the luggage, the second point cloud data corresponding to the stacking area of the luggage equipment, and the luggage category information, the best placement point in the stacking area of the luggage equipment, i.e., the above-mentioned target placement position, is calculated. The above-mentioned calculation process considers the material, size and point cloud data of the stacked luggage to optimize space utilization and stacking stability. Subsequently, the omnidirectional forklift robot accurately positions to the material taking platform, and stably forks the luggage according to the previously adjusted luggage pose. Then, the robot moves along the ground rail to above the specified luggage equipment, and accurately places the luggage at the target position according to the pre-planned path, realizing efficient and automatic stacking, and effectively improving the efficiency and reliability of luggage automation processing.

[0057] In summary, the luggage transfer and stacking method provided by the embodiment one of the application, by detecting the luggage into the luggage transfer and stacking system, collecting the first luggage information of the luggage and the first image of the luggage, and identifying the category information and state information of the luggage according to the first image; determining whether to perform the extraction operation on the luggage according to the first luggage information, the category information and the state information, in the case of performing the extraction operation on the luggage, extracting the luggage to the lower layer of the conveying line, and collecting the second luggage information of the luggage; in the case that the first luggage information and the second luggage information are the same, lifting the luggage to the upper layer conveying line through the lifting mechanism, transporting the luggage to the material taking platform through the upper layer conveying line, and collecting the first point cloud data of the luggage; calculating the wheel orientation information according to the first point cloud data, adjusting the luggage to the preset luggage posture according to the wheel orientation information, and obtaining the adjusted luggage; collecting the second point cloud data for the stacking area of the luggage equipment, determining the target placement position of the luggage in the stacking area of the luggage equipment according to the first point cloud data, the second point cloud data and the category information, and transporting the adjusted luggage to the target placement position through the omnidirectional fork taking robot, solving the problems of large labor intensity of workers, low efficiency of luggage transfer and luggage misdelivery in the related art.

[0058] By preliminarily collecting the identification information and surface image of the luggage, the technical effect of initial confirmation of luggage information and state is achieved. At the same time, by analyzing the first image, the category and state of the luggage are identified, realizing the discrimination of whether the luggage is suitable for automatic processing, further achieving the technical effects of improving the luggage processing efficiency and reducing manual intervention. On the basis of information consistency confirmation, through the precise control of the lifting mechanism, the luggage to be transferred is lifted and smoothly transferred to the upper layer conveying line, realizing the automation and efficiency of luggage circulation, and enhancing the throughput capacity of the luggage transfer and stacking system. Further, by acquiring the first point cloud data through the three-dimensional camera, calculating the luggage wheel orientation information, and cooperating with the pose adjustment and steering mechanism, the luggage is adjusted to a standardized posture, realizing the unification of the luggage posture, and ensuring the smooth progress of the subsequent stacking operation. Finally, according to the first point cloud data and the category information, the adjusted luggage is accurately transported to the target position of the luggage equipment through the omnidirectional fork taking robot, realizing intelligent stacking, not only improving the space utilization rate, but also ensuring the stability and safety of stacking, greatly improving the overall efficiency and technical level of luggage automation processing.

[0059] Optionally, in the baggage transfer and stacking method provided in Embodiment One of the present application, the second point cloud data is collected for the stacking area of the baggage carrier, the target placement position of the baggage in the stacking area of the baggage carrier is determined according to the first point cloud data, the second point cloud data and the category information, and the adjusted baggage is carried to the target placement position by the omnidirectional forklift robot, which comprises: determining the baggage size information according to the first point cloud data, and determining the stacking type information according to the second point cloud data; wherein the stacking type information is information describing the stacking shape of the baggage in the stacking area; determining the target placement position according to the baggage size information, the category information, the stacking type information, the preset three-dimensional model and the preset stacking rule, wherein the preset stacking rule is determined based on the stacking stability of the baggage and the space utilization rate of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; using an obstacle avoidance algorithm, the motion trajectory of the omnidirectional forklift robot is generated according to the current position of the baggage and the target placement position, wherein the obstacle avoidance algorithm is used to calculate the current position of the baggage and the target placement position collected every preset time to obtain the motion trajectory; generating the baggage coordinate information and the stacking action sequence according to the target placement position and the motion trajectory based on the beat of the baggage transfer and stacking system; and controlling the omnidirectional forklift robot to carry the adjusted baggage to the target placement position in the stacking area according to the baggage coordinate information and the stacking action sequence.

[0060] In Embodiment One, when the baggage reaches the observation range of the system, the three-dimensional camera immediately captures the point cloud image of the baggage, i.e. the above-mentioned first point cloud data, and the host computer system quickly determines the baggage size information (e.g. the length, width, height, etc. of the baggage) through depth analysis of the first point cloud data, providing a key basis for subsequent stacking operations. Then, the second point cloud data is analyzed in depth to determine the stacking type information, which comprehensively describes the specific form of the baggage stacking in the stacking area, including but not limited to the number of layers, the arrangement order and the space occupation, providing a key reference for subsequent stacking optimization and collision prevention.

[0061] Then, combined with the identified baggage material (it should be noted that the above-mentioned category information can include the material information of the baggage), the optimal placement point of each baggage, i.e. the above-mentioned target placement position, is calculated by referring to the preset three-dimensional model and the stacking rule. The preset three-dimensional model here is an accurate simulation model of the baggage carrier stacking area; and the preset stacking rule takes into account the stability of the stacking and the maximization of the space utilization, ensuring that each baggage is stable and compact when stacked.

[0062] In an alternative embodiment, the stacking strategy can include the following strategies: a first strategy for luggage material, ensuring that luggage with hard material is placed below luggage with soft material, i.e., the material priority is hard over soft; a second strategy for luggage size, ensuring that luggage with large size is placed below luggage with small size, i.e., the size priority is large over small; a third strategy, ensuring maximum space utilization of the stacking area and stability of the center of gravity of the luggage stack in the stacking area. In addition, the luggage transfer and stacking system in this embodiment supports the ordering of strategies corresponding to different priorities, and determines the position of the luggage based on the ordered strategies.

[0063] Secondly, to achieve the barrier-free movement of the omnidirectional forklift robot from the material taking platform to the luggage equipment, an obstacle avoidance algorithm is used to calculate the movement trajectory of the omnidirectional forklift robot in three-dimensional space based on the real-time updated current position of the luggage and the target placement position, ensuring the safety and efficiency of the omnidirectional forklift robot during the handling process, and enabling it to accurately perform tasks even in a variable environment. The execution frequency of the obstacle avoidance algorithm matches the preset time length, ensuring the immediacy and accuracy of the movement trajectory planning. Furthermore, to make the handling process more coordinated and orderly, a metronome is introduced into the system to generate detailed luggage coordinate information and stacking action sequences based on the calculated target placement position and planned movement trajectory. This sequence contains all operation instructions for the handling robot during the stacking task, ensuring the smoothness of the robot's actions and the data consistency of the virtual three-dimensional model data and the real stacking data in the stacking area.

[0064] Finally, based on the generated luggage coordinate information and stacking action sequence, the omnidirectional forklift robot is precisely controlled to move the luggage adjusted to the standard posture to the predetermined point of the luggage equipment according to the predetermined path, completing a closed loop of stacking operation.

[0065] Through the above steps, the luggage stacking and transfer system achieves high precision and efficiency in automatic luggage stacking, achieving the technical effects of intelligent recognition, intelligent decision-making, and precise execution. This process ensures the stability of the luggage during transfer and stacking, reduces manual intervention, and improves the operational efficiency of the logistics center. At the same time, by dynamically adjusting the stacking strategy and implementing the obstacle avoidance algorithm, the system can maintain high flexibility in complex environments, effectively avoiding obstacles, and ensuring the safety of the robot's operation and the continuity of the work. In addition, the metronome enables the entire system to operate at an optimal pace, ensuring smooth and efficient handling of large amounts of luggage even during peak periods. Therefore, the luggage stacking and transfer system not only significantly improves the speed and accuracy of luggage automation processing, but also optimizes the stacking quality, maximizing the space utilization of the stacking area, thereby achieving high-density and high-quality luggage stacking.

[0066] Optionally, in the baggage transfer and palletizing method provided in the first embodiment of the present application, after controlling the omnidirectional fork pick robot to move the adjusted baggage to the target placement position in the palletizing area based on the baggage coordinate information and the palletizing action sequence, the method further includes: determining the actual placement position of the baggage based on the type information, size information, and stacking type information; calculating a safety offset based on the size information and device information of the omnidirectional fork pick robot, wherein the safety offset is used to prevent a collision between the omnidirectional fork pick robot and the baggage equipment; determining a position offset of the baggage based on the safety offset, the target placement position, and the actual placement position; and if the position offset does not fall within a preset value range, adjusting the baggage by the omnidirectional fork pick robot until the position offset between the actual placement position of the baggage and the target placement position is less than or equal to the safety offset.

[0067] In this first embodiment, when palletizing is in progress or complete, the baggage handling system uses a built-in intelligent algorithm to calculate and determine the actual placement of the baggage within the palletizing area, based on the baggage type, known baggage dimensions, the current pallet configuration, and baggage weight. This in-depth analysis of the baggage type, dimensions, and weight allows for precise calculation of the optimal placement, maximizing palletizing stability and space utilization, while achieving efficient, safe, and stable palletizing.

[0068] Thirdly, to ensure the omnidirectional forklift robot avoids accidental collisions with the baggage carrier (or other baggage) when carrying luggage to the palletizing area, a precise safety offset is calculated based on the baggage dimensions and the robot's own equipment parameters. This safety offset is the minimum distance the robot must maintain from the baggage carrier when approaching the palletizing area. This effectively mitigates potential equipment contact risks, prevents collisions during operation, and ensures safe and smooth system operation.

[0069] Finally, the system determines the position offset of the baggage during the palletizing process based on the calculated safety offset, the expected target placement position, and the actual placement position.

[0070] In an optional embodiment, Figure 2 is a schematic diagram of an optional method for correcting the posture of luggage after stacking provided in accordance with the first embodiment of the present application, as shown in FIG. Figure 2If the position offset exceeds the preset safety threshold, the omnidirectional fork robot will start the posture correction logic in an emergency, and implement precise adjustment actions on the luggage. If the target placement position is in contact with the boundary of the luggage equipment, i.e., the target placement position of the luggage is surrounded by the boundary of the luggage equipment, the luggage is moved to a position where the actual placement position of the luggage is less than or equal to the safety offset from the target placement position (the boundary of the luggage equipment); if the target placement position is surrounded by other luggage, and the distance between the target placement position and the other luggage is less than the safety offset, the luggage is moved to a position where the actual placement position of the luggage is less than or equal to the safety offset from the other luggage; if the target placement position is surrounded by other luggage, and the distance between the target placement position and the other luggage is greater than or equal to the safety offset, the luggage can be moved to the target placement position, or the luggage can be moved to a position that is a safety offset from the other luggage. Through the automatic posture correction logic, the luggage stacking deviation is corrected in a timely manner, achieving high-precision control of luggage stacking, and ensuring smooth stacking operation and the quality of the stacking result.

[0071] Through the above steps, the luggage transfer and stacking system can detect the status of the stacking area in real time, intelligently optimize the stacking strategy, automatically adjust the luggage placement position, and effectively prevent the collision risk between the robot and the luggage equipment. Not only does it significantly improve the precision, efficiency and safety of automatic luggage handling, but also optimizes the luggage transfer process, reduces the need for manual intervention, and provides an innovative solution for airport luggage transfer.

[0072] Optionally, in the luggage transfer and stacking method provided in Embodiment One of the present application, the method further includes: in the case where the position offset is within the preset numerical range, determining the remaining space information of the luggage equipment according to the second point cloud data and the preset three-dimensional model; determining whether the stacking area can continue to stack the luggage according to the remaining space information; in the case where the remaining space information indicates that the luggage can continue to be stacked, determining whether to adjust other luggage within the preset range of the luggage by using the obstacle avoidance algorithm, so that the stacking area can continue to stack the luggage received by the luggage transfer and stacking system; in the case where the remaining space information indicates that the luggage cannot continue to be stacked, ending the operation of stacking the luggage received by the luggage transfer and stacking system.

[0073] In Embodiment One, after detecting that the position offset of the luggage stacked in the luggage equipment is within the preset safety range, the second point cloud data collected is compared and analyzed with the preset three-dimensional model to accurately calculate the remaining space information of the luggage equipment. The remaining space information is used to determine whether to continue the automatic decision of the stacking operation, effectively avoiding the interruption of the operation due to insufficient space, and ensuring the continuity of the stacking process.

[0074] Secondly, according to the residual space information, a logical judgment algorithm is used to evaluate in real time whether there is enough space in the stacking area to accommodate the luggage to be stacked, ensuring that the continuation of the stacking operation will not lead to overloading of the loading device or waste of space. This judgment is not only based on the size of the residual space, but also considers the shape and structure of the space to ensure the safety and rationality of the stacking.

[0075] Then, in the case that the stacking area still has enough space for stacking operation, further analysis of the existing layout of the luggage in the luggage loading device is carried out, and an obstacle avoidance algorithm is used to determine whether the position adjustment of the luggage already stacked in the preset stacking range is needed. The purpose of this adjustment is to create more available space and avoid idle space due to unreasonable stacking layout, while ensuring that the luggage to be stacked can enter the predetermined position smoothly without collision or extrusion with other luggage. If the obstacle avoidance algorithm determines that the stacking layout can be further optimized by adjusting the position of the existing luggage, the omnidirectional fork robot will be controlled to perform a fine adjustment operation on the luggage, ensuring the maximum utilization of space in the stacking area. By introducing the obstacle avoidance algorithm, the rationality of the stacking layout in the luggage loading device can be intelligently analyzed, and the position of the stacked luggage can be automatically adjusted to create optimal conditions for the stacking of new luggage, significantly improving the flexibility and space utilization of the stacking operation.

[0076] Finally, through the residual space information judgment, it is determined that the current luggage loading device cannot continue to stack new luggage, i.e., the loading device reaches the full load state or there are other abnormal situations, and the omnidirectional fork robot will return to the preset safety position and wait for further operation instructions to prevent safety hazards or operational errors caused by excessive accumulation of luggage. At this time, the metronome will record the current state and pause receiving new luggage stacking requests until the luggage loading device is replaced or the abnormal situation is resolved, and the system returns to the preparation state for continuing the stacking operation.

[0077] Through the above steps, not only the accuracy and efficiency of the stacking operation are improved, but also the space utilization of the luggage loading device is significantly optimized, realizing the precise monitoring and intelligent decision-making of the residual space of the luggage loading device, and significantly improving the efficiency and safety of the stacking operation.

[0078] Optionally, in the luggage transfer and stacking method provided in Embodiment One of the present application, the first luggage information of the luggage and the first image of the luggage are collected, and the type information and state information of the luggage are identified according to the first image, including: collecting the first luggage information of the luggage through radio frequency identification technology, wherein the luggage information at least includes: luggage identification information; collecting the surface image of the luggage through the two-dimensional camera in the preset area to obtain the first image; wherein a constant light source is deployed in the preset area; storing the first luggage information and the first image to a preset storage space; using a preset image recognition algorithm to identify the first image to obtain the type information and the state information, wherein the state information includes: abnormal information, standing posture information, and basket loading information.

[0079] In the first embodiment, when the luggage is transferred to a specific observation point (e.g., an RFID / OCR identification door), the first luggage information of each piece of luggage is accurately collected using radio frequency identification technology. This information at least covers the unique identification of the luggage, i.e., the luggage tag number, ensuring that each piece of luggage has traceability in the system.

[0080] Then, when the luggage enters the constant light source environment in the preset area, the host computer system automatically starts the two-dimensional camera deployed in this area to capture the surface image of the luggage and generate the first image. A dome light source and a bar light source are deployed inside the preset area to form a constant light area, and the first image of the luggage is collected by the two-dimensional camera installed on the vision door of the luggage transfer and stacking system under the light area. The constant light source eliminates the influence of external light conditions on image quality, ensuring the consistency and high definition of image collection, and providing a high-quality data source for subsequent image analysis. In addition, the host computer system synchronously stores the collected first luggage information and the first image in the preset storage space, constructs an association library of luggage information and image data, and can realize the whole process tracing of each piece of luggage from entering the system to completing the stacking, and provides a basis for subsequent intelligent decision-making and abnormal detection.

[0081] Secondly, the host computer system calls the preset image recognition algorithm to comprehensively analyze the stored first image, aiming to obtain the category information and state information of the luggage. Exemplarily, the category information of the luggage at least includes the material information of the luggage, and the material information at least includes specific classifications such as soft and hard. The state information is used to describe the state of the luggage, and at least includes abnormal information, standing posture information and basket loading condition of the luggage.

[0082] The abnormal information is used to judge whether the luggage has abnormalities such as the pull rod not being retracted (i.e., the first type of abnormality described above). In an optional embodiment, the abnormal information can include a second type of abnormality in addition to the first type of abnormality, wherein the second type of abnormality means that the luggage has no abnormalities.

[0083] The standing posture information judges whether the luggage is in a flat posture. The system compares the preset standing posture standard (both edge lengths of the placement surface are greater than the height of the luggage) with the real-time posture data to judge whether the luggage is in the predetermined posture required for automatic processing. If the standing posture of the luggage meets the preset standard (i.e., it meets condition 4 in the first embodiment), i.e., the luggage should be in a standing posture that is easy to be grabbed and carried by automatic equipment, so as to reduce the adjustment time in the processing process and reduce the operation risk. Through the setting of this condition, the system ensures the consistency of the posture of the luggage in the automatic processing process, and provides a necessary premise for realizing efficient and accurate luggage automatic transfer and stacking.

[0084] The basketing condition refers to whether the luggage has been packed into a specific basket or container. In an optional embodiment, the luggage can be pre-packed into standardized baskets to facilitate subsequent handling and stacking. Information on the basketing condition can help the host computer system determine whether the luggage needs to be unpacked.

[0085] Through the integration of RFID technology / OCR technology and image recognition algorithms, the comprehensiveness and accuracy of luggage information collection are significantly improved, laying a solid data foundation for luggage automation processing. At the same time, by collecting the type information and state information of the luggage, the processing strategy of the luggage can be intelligently decided according to the material and state information of the luggage, including whether to extract, whether to transfer, stacking sequence and abnormal processing, significantly improving the adaptability and processing efficiency of the system.

[0086] Then, according to the type information and state information, the stacking processing mode of each piece of luggage is intelligently decided. Exemplarily, for the first and second hard degree of luggage identified, different stacking strategies can be planned according to their material property differences to ensure the stability of stacking and the optimal use of space. For luggage with abnormal information of pull rod extension, the host computer system will automatically mark and take corresponding processing measures to avoid system failure or luggage damage due to improper position of luggage in subsequent stacking process. In addition, the system will also decide whether to unpack according to the basketing information of the luggage to ensure the safety and efficiency of the luggage in the automation process. Through timely identification and processing of abnormal information, the failure rate in the luggage processing process is significantly reduced, and the stability and safety of the luggage automated transfer and stacking system are improved.

[0087] Finally, through comprehensive analysis of the first luggage information, the type information and state information of the first image, precise control of the luggage automation processing flow is realized. This control not only covers the identification, classification and abnormal detection of luggage, but also involves intelligent adjustment of luggage position and dynamic optimization of stacking strategy, ensuring the efficient and reliable operation of the luggage transfer and stacking system, realizing efficient, accurate and safe luggage automation processing, and providing an innovative solution for airport luggage transfer automation.

[0088] Optionally, in the baggage transfer and stacking method provided in Embodiment One of the present application, determining whether to perform the extraction operation on the baggage according to the first baggage information, the category information and the state information comprises: determining whether the baggage meets the first extraction condition according to the flight information in the first baggage information to obtain a first determination result; determining whether the baggage meets the second extraction condition according to the category information and the state information to obtain a second determination result; determining whether the baggage meets the third extraction condition according to the number of the baggage in the baggage transfer and stacking system within a preset time period to obtain a third determination result; and determining whether to perform the extraction operation on the baggage according to the first determination result, the second determination result and the third determination result.

[0089] In Embodiment One, the host computer system immediately analyzes the baggage identification information such as the baggage tag number in the first baggage information obtained by the radio frequency identification technology. According to the correspondence between the baggage identification information and the flight information of the external other business system, the flight information is analyzed. The received flight extraction instruction and the analyzed flight information determine whether the baggage meets the first extraction condition. Exemplarily, the flight extraction instruction sent by the other business system is received. According to the flight extraction instruction, the target flight information of the baggage that needs to be extracted in the airport is determined. In the case where the target flight information contains the above-mentioned analyzed flight information, it is determined that the baggage meets the above-mentioned first extraction condition.

[0090] Then, the host computer system comprehensively evaluates whether the baggage meets the second extraction condition according to the category information and the state information obtained by the first image recognition through the built-in logical judgment mechanism. This condition covers the state information (such as whether the pull rod is retracted) and the category information (such as the material information, including: hard, soft, etc.) of the baggage, sets a pre-filtering condition for the subsequent automatic processing of the baggage, ensures that only the baggage with good state and suitable category can enter the automatic processing flow, and avoids the risk of abnormal baggage processing of the hardware device.

[0091] Secondly, the host computer system monitors the number of baggage in the entire baggage transfer and stacking system within a preset time period in real time. Based on this data, the judgment of the third extraction condition is performed. This condition considers the current processing capacity of the baggage transfer and stacking system and the immediate flow of the baggage. By comparing the designed processing capacity of the baggage transfer and stacking system with the actual number of baggage, it is intelligently decided whether it is necessary to increase the processed baggage or temporarily limit the extraction speed of the baggage, so as to achieve the purpose of optimal allocation of resources and stable operation of the system. The introduction of this link significantly enhances the adaptability of the system to dynamic flow, and ensures the efficiency and balance of baggage processing.

[0092] Finally, according to the first judgment result, the second judgment result and the third judgment result, a comprehensive decision basis is formed to determine whether to perform the extraction operation on the luggage. Exemplarily, the extraction operation is performed on the luggage when the first judgment result, the second judgment result and the third judgment result are all satisfied.

[0093] Through the above steps, the extraction timing of the luggage can be intelligently decided according to the flight information, the state information and the category information of the luggage and the current processing load of the luggage transfer and stacking system, which significantly improves the accuracy and efficiency of the automatic processing of the luggage. The application of this method effectively avoids the misprocessing of luggage due to information inconsistency, state abnormality, system overload or other conditions that do not meet the processing requirements, reduces the idle rate and failure rate of the equipment, and ensures the safety and orderliness of the luggage in the automatic processing flow.

[0094] In an optional embodiment, by monitoring the relationship between the processing capacity of the luggage transfer and stacking system and the luggage flow in real time, it can further be dynamically determined whether to extract the luggage, so as to realize flexible adaptation to the luggage processing flow and optimal allocation of resources, and improve the overall performance of the automatic processing of the luggage transfer and stacking system and the airport user experience.

[0095] Optionally, in the luggage transfer and stacking method provided in Embodiment One of the present application, the second extraction condition at least includes one of the following: condition 1: the category information indicates that the luggage belongs to a preset category, and the state information indicates that the luggage belongs to a preset state; condition 2: the abnormal information in the state information represents that the luggage does not have the abnormality of the extension of the pull rod; condition 3: the basket loading information in the state information indicates that the luggage is in a preset basket loading state; and condition 4: the standing posture information in the state information indicates that the luggage is in a preset posture.

[0096] In this embodiment one, the specific material information of the luggage is determined according to the category information received by the upper computer system, including but not limited to hard and soft. According to the preset category, it is judged whether the luggage belongs to the preset category that should be automatically processed. This judgment constitutes the basis of condition 1, that is, the category of the luggage must be consistent with the system expectation, so as to meet the second extraction condition and obtain the second judgment result. Through this condition screening, the system can accurately distinguish between various types of luggage, avoid non-target category luggage entering the automatic processing flow, and ensure effective allocation of resources and targeted operation.

[0097] Then, the host computer system can also perform in-depth analysis on the abnormal information in the state information. The abnormal information contains the physical state of the luggage that may affect the automatic processing flow, for example, checking whether the luggage has an abnormal situation of the pull rod extending. If the luggage is in the state of the pull rod not being retracted, the system will determine that it does not meet condition 2 in the second extraction condition, i.e., the luggage should be in the normal state of the pull rod being completely retracted, to ensure the smoothness and stability of the subsequent automatic processing process. Through the setting of this condition, the system can effectively prevent the processing equipment from being jammed or damaged due to abnormal luggage state (e.g., pull rod extension abnormality), thereby improving the safety and reliability of the overall processing flow.

[0098] Secondly, the host computer system can also analyze the basket loading condition in the state information to determine whether the luggage is in the preset basket loading state, i.e., the luggage has been placed in the standard basket. The setting of this condition, i.e., condition 3, is to decide whether to perform basket unloading processing. If the luggage has been placed in the standard basket, basket unloading processing needs to be performed, so that the luggage can be transported and stacked after the basket unloading processing, thereby ensuring that the luggage can be safely and efficiently transported and stacked during the automatic processing process, and avoiding processing problems caused by improper basket loading. Through the examination of this condition, a reliable luggage state confirmation is provided for subsequent automatic operation.

[0099] Finally, the host computer system can also perform detailed inspection on the standing posture information in the state information. The standing posture information determines whether the luggage is in a flat posture. The system compares the preset standing posture standard (e.g., both edge lengths of the luggage placement surface are greater than the height of the luggage) with the real-time posture data to determine whether the luggage is in the predetermined posture required for automatic processing. If the standing posture of the luggage meets the preset standard, the system considers that it meets condition 4, i.e., the luggage should be in a standing posture that is easy to be grabbed and transported by automatic equipment, to reduce the adjustment time and operation risk in the processing process. Through the setting of this condition, the system ensures the consistency of the posture of the luggage during the automatic processing process, thereby providing a necessary premise for efficient and accurate luggage automatic flow and stacking.

[0100] Through the above steps, the technical effects of accurate judgment and screening of the luggage state and type in the luggage automatic processing flow are achieved. Specifically, the system realizes accurate identification and screening of luggage that meets the automatic processing conditions through comprehensive inspection of the type information, abnormal state, basket loading condition and standing position information of the luggage, ensuring that only the luggage with good state, accurate position, pre-set basket loading condition and belonging to the pre-set type can enter the subsequent automatic processing flow. This series of condition judgment and information analysis significantly improves the accuracy and efficiency of luggage automatic processing, reduces processing errors and equipment failures caused by inconsistent luggage state, and also creates favorable conditions for subsequent handling, stacking and other automatic operations, realizes efficient management and quality control of the luggage automatic processing flow, and provides an innovative solution for luggage automatic processing in the intelligent logistics field.

[0101] Optionally, in the first embodiment of the present application, Figure 3 is a schematic diagram of an optional complete luggage transfer process according to the first embodiment of the present application. As shown in Figure 3 , the luggage first passes through the RFID / OCR identification door on the luggage transfer line of the airport, and the luggage tag number (i.e. the first luggage information described above) of the luggage is identified. The host computer system establishes a first data group according to the flight number information corresponding to the luggage tag number. The luggage reaches the closed constant light source area (i.e. the pre-set area described above) on the luggage transfer line, which is equipped with a dome light source and a strip light source to compensate for image brightness. A two-dimensional camera is used to collect real-time images of the luggage surface (i.e. the first image described above). The host computer system identifies the image information of the first image in real time, completes type identification, abnormality detection, color identification, standing position detection and basket loading detection, and writes the luggage type, material information and detection information into a second data group through the host computer system in the luggage transfer and stacking system. The two groups of data are synchronized to the programmable logic controller. If an abnormality is detected, the host computer records the corresponding luggage tag number and abnormality information, and transfers the luggage to the luggage transfer line. If no abnormality is detected, the luggage is pushed from the luggage transfer line of the airport to the lower distance conveying line through the extraction mechanism in the luggage transfer and stacking system for circulation.

[0102] The second RFID / OCR identification is performed after the luggage is stopped on the lower pull distance conveying line, and the second luggage information is obtained to identify the luggage with a mismatched luggage tag number in the first luggage information, ensure the information consistency of the luggage in the multi-stage circulation, and prevent the transfer error caused by misreading. If the current luggage tag number (i.e., the second luggage information) matches the luggage tag number in the first luggage information, the luggage is lifted from the lower pull distance conveying line to the upper conveying line by the lifting mechanism; otherwise, the luggage is pushed to the luggage conveying line by the discharge push plate. When the luggage is lifted to the upper conveying line by the lifting mechanism and is stopped, the upper computer system is triggered to take a photo by the three-dimensional camera through the editable logic controller in the luggage transfer and stacking system, so as to obtain the first point cloud data of the luggage. At the same time, the upper computer calculates the luggage size information and the wheel orientation information, and binds the first point cloud information with the state information and the type information of the luggage, and the identification result of the RFID / OCR identification door. The programmable logic controller in the luggage transfer and stacking system flexibly distributes the luggage to multiple material taking platforms according to the binding information. If the three-dimensional camera fails to take a photo or cannot obtain the first point cloud data of the luggage due to other abnormalities, the luggage is transferred to the luggage conveying line for waiting for the staff to handle.

[0103] After the luggage reaches the corresponding material taking platform through the upper conveying line, the luggage posture is ensured to be correct and meet the requirements of the omnidirectional fork taking robot through the cooperative action of the blocking plate, the fork discharge push plate mechanism, the centering clamp taking mechanism and the lifting and steering mechanism in the luggage transfer and stacking system. The target placement position of the luggage is accurately calculated according to the material information, size information, stacking type information, preset three-dimensional model and preset stacking rules of the luggage. A dynamic obstacle avoidance algorithm is adopted to generate the motion trajectory of the omnidirectional fork taking robot according to the current position and the target placement position of the luggage. The luggage coordinate information and the stacking action sequence are generated based on the target placement position and the motion trajectory of the luggage by the beat of the luggage transfer and stacking system. The luggage coordinate information and the stacking action sequence are transmitted to the omnidirectional fork taking robot through the network. After receiving the data, the omnidirectional fork taking robot executes the stacking action according to the luggage coordinate information and the stacking action sequence, and carries the luggage to the target placement position in the stacking area.

[0104] After the luggage is carried by the omnidirectional fork taking robot, the second point cloud data of the luggage in the stacking area is collected to determine the information of the stacking shape of the luggage in the stacking area (i.e., the stacking type information), and the position offset between the actual placement position and the target placement position of the luggage is detected. The position of the luggage is adjusted again according to the position offset (such as Figure 3to make the distance between the luggage and the luggage loading device or other luggage within a safe offset range, wherein the safe offset is used to prevent the omnidirectional fork taking robot from colliding when stacking the luggage. After the stacking is completed, the upper computer system updates the luggage stacking data in the luggage transfer and stacking system based on the actual stacking situation to achieve a closed loop process.

[0105] The power sources of the above-mentioned hardware mechanisms (luggage transfer line, extraction mechanism, upper layer conveying line, lower layer distance pulling conveying line, discharge push plate, blocking plate mechanism, fork discharge push plate mechanism, centering and clamping mechanism, material taking platform, lifting and steering mechanism, omnidirectional fork taking robot) are connected with external motors or servo motors.

[0106] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0107] Embodiment Two

[0108] Embodiment Two of the present application also provides a luggage transfer and stacking device. It should be noted that the luggage transfer and stacking device of Embodiment Two of the present application can be used to execute the method for luggage transfer and stacking provided in Embodiment One of the present application. The luggage transfer and stacking device provided in Embodiment Two of the present application is introduced as follows.

[0109] The luggage transfer and stacking device of Embodiment Two of the present application includes a luggage transfer and stacking system, which at least includes a lower layer distance pulling conveying line, a lifting mechanism, an upper layer conveying line, a luggage loading device, and an omnidirectional fork taking robot. Figure 4 is a schematic diagram of the luggage transfer and stacking device provided in Embodiment Two of the present application. As shown in Figure 4 The device includes an identification unit 401, an extraction unit 402, a lifting unit 403, an adjustment unit 404, and a carrying unit 405.

[0110] Specifically, the identification unit 401 is configured to, when detecting that the luggage enters the luggage transfer and stacking system, collect first luggage information of the luggage and a first image of the luggage, and identify category information and state information of the luggage according to the first image.

[0111] The extraction unit 402 is configured to determine whether to perform an extraction operation on the luggage according to the first luggage information, the category information, and the state information, and in the case of performing the extraction operation on the luggage, extract the luggage to the lower layer distance pulling conveying line and collect second luggage information of the luggage.

[0112] The lifting unit 403 is used to lift the luggage to the upper conveyor line through the lifting mechanism when the first luggage information and the second luggage information are the same, transport the luggage to the reclaiming platform through the upper conveyor line, and collect the first point cloud data of the luggage.

[0113] The adjustment unit 404 is configured to calculate wheel orientation information based on the first point cloud data, and adjust the luggage to a preset luggage posture based on the wheel orientation information to obtain adjusted luggage.

[0114] The handling unit 405 is configured to collect second point cloud data for the stacking area of ​​the luggage rack, determine a target placement position for the luggage in the stacking area of ​​the luggage rack based on the first point cloud data, the second point cloud data, and the type information, and transport the adjusted luggage to the target placement position using an omnidirectional forklift robot.

[0115] The baggage transfer and palletizing device provided in the second embodiment of the present application, when detecting that the baggage has entered the baggage transfer and palletizing system, collects the first baggage information and the first image of the baggage through the identification unit 401, and identifies the type and status information of the baggage based on the first image; the extraction unit 402 determines whether to perform an extraction operation on the baggage based on the first baggage information, the type and the status information; when the extraction operation is performed on the baggage, extracts the baggage to the lower-level pull-distance conveyor line and collects the second baggage information of the baggage; when the first baggage information and the second baggage information are the same, the lifting unit 403 lifts the baggage to the upper-level conveyor line through the lifting mechanism, and then extracts the baggage through the upper-level conveyor line. The layer conveyor line transports the luggage to the reclaiming platform and collects first point cloud data of the luggage. The adjustment unit 404 calculates wheel orientation information based on the first point cloud data and adjusts the luggage to a preset luggage posture based on the wheel orientation information to obtain the adjusted luggage. The handling unit 405 collects second point cloud data for the stacking area of ​​the luggage holder, determines the target placement position of the luggage in the stacking area of ​​the luggage holder based on the first point cloud data, the second point cloud data, and the type information, and uses the omnidirectional fork-picking robot to transport the adjusted luggage to the target placement position. This solves the problems of high labor intensity for staff, low luggage transfer efficiency, and mishandling of luggage in luggage transfer business scenarios in related technologies.

[0116] The identification information and surface image of the luggage are collected initially, so that the technical effects of initial confirmation of the luggage information and state are achieved. Meanwhile, by analyzing the first image, the type and state of the luggage are identified, so that whether the luggage is suitable for automatic processing is distinguished, and the technical effects of improving the luggage processing efficiency and reducing manual intervention are further achieved. On the basis of information consistency confirmation, the luggage to be transferred is lifted and smoothly transferred to the upper conveying line through precise control of the lifting mechanism, so that the automation and efficiency of the luggage transfer are realized, and the throughput capacity of the luggage transfer and stacking system is enhanced. Further, the first point cloud data is obtained by the three-dimensional camera, the luggage wheel orientation information is calculated, and the luggage is adjusted to a standardized posture by cooperating with the posture adjusting and turning mechanism, so that the uniformity of the luggage posture is realized, and the subsequent stacking operation is ensured to be smoothly performed. Finally, according to the first point cloud data, the second point cloud data and the type information, the adjusted luggage is accurately carried to the target position of the luggage container by the omnidirectional fork taking robot, so that intelligent stacking is realized, not only the space utilization rate is improved, but also the stability and safety of stacking are ensured, and the overall efficiency and technical level of automatic luggage processing are greatly improved.

[0117] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the carrying unit 405 includes: a first determination subunit configured to determine luggage size information according to the first point cloud data, and determine stacking type information according to the second point cloud data; the stacking type information is information describing the stacking shape of the luggage in the stacking area; a second determination subunit configured to determine a target placement position according to the luggage size information, the type information, the stacking type information, a preset three-dimensional model and a preset stacking rule; the preset stacking rule is determined based on the stacking stability of the luggage and the space utilization rate of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; a first generation subunit configured to generate a motion trajectory of the omnidirectional fork taking robot according to the current position of the luggage and the target placement position by using an obstacle avoidance algorithm; the obstacle avoidance algorithm is used to calculate the current position and the target placement position of the luggage collected every preset time length to obtain the motion trajectory; a second generation subunit configured to generate luggage coordinate information and stacking action sequence according to the target placement position and the motion trajectory based on a metronome in the luggage transfer and stacking system; and a carrying subunit configured to control the omnidirectional fork taking robot to carry the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence.

[0118] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the carrying unit 405 described above further comprises: a third determination subunit, configured to determine an actual placement position of the luggage according to the category information, the size information, and the stacking type information after the omnidirectional forklift robot is controlled to carry the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence; a calculation subunit, configured to calculate a safety offset according to the size information and the equipment information of the omnidirectional forklift robot, wherein the safety offset is used to prevent the omnidirectional forklift robot and the luggage from colliding; a fourth determination subunit, configured to determine a position offset of the luggage according to the safety offset, the target placement position, and the actual placement position; and an adjustment subunit, configured to adjust the luggage by the omnidirectional forklift robot until the position offset between the actual placement position and the target placement position is less than or equal to the safety offset, in a case where the position offset is not within a preset numerical range.

[0119] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the carrying unit 405 described above further comprises: a fifth determination subunit, configured to determine residual space information of the luggage according to the second point cloud data and the preset three-dimensional model, in a case where the position offset is within the preset numerical range; a first judgment subunit, configured to judge whether the stacking area can continue to stack the luggage according to the residual space information; a first processing subunit, configured to judge whether to adjust other luggage within a preset range of the luggage by an obstacle avoidance algorithm, so that the stacking area can continue to stack the luggage received by the luggage transfer and stacking system, in a case where the residual space information indicates that the stacking area can continue to stack the luggage; and a second processing subunit, configured to end the operation of stacking the luggage received by the luggage transfer and stacking system, in a case where the residual space information indicates that the stacking area cannot continue to stack the luggage.

[0120] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the identification unit 401 described above comprises: a first acquisition subunit, configured to acquire first luggage information of the luggage by radio frequency identification technology, wherein the luggage information at least comprises luggage identification information; a second acquisition subunit, configured to acquire a surface image of the luggage by a two-dimensional camera in a preset area to obtain a first image; wherein a constant light source is deployed in the preset area; a storage subunit, configured to store the first luggage information and the first image to a preset storage space; and an identification subunit, configured to identify the first image by using a preset image recognition algorithm to obtain category information and state information, wherein the state information comprises abnormal information, standing posture information, and basket loading information.

[0121] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the extraction unit 402 comprises: a second judgment subunit configured to judge whether the luggage meets the first extraction condition according to the flight information in the first luggage information, and obtain a first judgment result; a third judgment subunit configured to judge whether the luggage meets the second extraction condition according to the category information and the state information, and obtain a second judgment result; a fourth judgment subunit configured to judge whether the luggage meets the third extraction condition according to the number of the luggage in the luggage transfer and stacking system within a preset time period, and obtain a third judgment result; and a sixth determination subunit configured to determine whether the extraction operation is performed on the luggage according to the first judgment result, the second judgment result and the third judgment result.

[0122] Optionally, in the luggage transfer and stacking device provided in Embodiment Two of the present application, the second extraction condition comprises at least one of the following: condition 1: the category information indicates that the luggage belongs to a preset category, and the state information indicates that the luggage belongs to a preset state; condition 2: the abnormal information in the state information represents that the luggage does not have the abnormality of the extension of the pull rod; condition 3: the basket loading information in the state information indicates that the luggage is in a preset basket loading state; and condition 4: the standing posture information in the state information indicates that the luggage is in a preset posture.

[0123] The luggage transfer and stacking device comprises a processor and a memory, and the identification unit 401, the extraction unit 402, the lifting unit 403, the adjusting unit 404 and the carrying unit 405 are all stored in the memory as program units and executed by the processor.

[0124] The processor comprises a core, and the core calls the corresponding program unit from the memory. The core can be one or more, and the luggage transfer efficiency can be improved by adjusting the core parameters.

[0125] The memory can include a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0126] Embodiment Three of the present application provides a computer readable storage medium having a program stored thereon, and the program is executed by a processor to implement the luggage transfer and stacking method.

[0127] Embodiment Four of the present application provides a processor configured to run a program, and the program is executed to implement the luggage transfer and stacking method.

[0128] Figure 5 is a schematic view of the luggage transfer and stacking electronic device provided in Embodiment Five of the present application. As shown in Figure 5As shown, the fifth embodiment of the present application provides an electronic device, the device comprising a processor, a memory, and a program stored on the memory and executable on the processor, and the processor implements the following steps when executing the program: when detecting that the luggage enters the luggage transfer and stacking system, collecting first luggage information of the luggage and a first image of the luggage, and identifying category information and state information of the luggage according to the first image; determining whether to perform a picking operation on the luggage according to the first luggage information, the category information and the state information, and in the case of performing the picking operation on the luggage, picking the luggage to a lower layer of a conveying line, and collecting second luggage information of the luggage; in the case that the first luggage information and the second luggage information are the same, lifting the luggage to an upper layer of the conveying line through a lifting mechanism, transporting the luggage to a material taking platform through the upper layer of the conveying line, and collecting first point cloud data of the luggage; calculating wheel orientation information according to the first point cloud data, adjusting the luggage to a preset luggage posture according to the wheel orientation information, and obtaining an adjusted luggage; collecting second point cloud data for a stacking area of a luggage carrier, determining a target placement position of the luggage in the stacking area of the luggage carrier according to the first point cloud data, the second point cloud data and the category information, and transporting the adjusted luggage to the target placement position through an omnidirectional fork taking robot.

[0129] The processor further implements the following steps when executing the program: collecting second point cloud data for a stacking area of a luggage carrier, determining a target placement position of the luggage in the stacking area of the luggage carrier according to the first point cloud data, the second point cloud data and the category information, and transporting the adjusted luggage to the target placement position through an omnidirectional fork taking robot, including: determining luggage size information according to the first point cloud data, and determining stack type information according to the second point cloud data; wherein the stack type information is information describing the stacking shape of the luggage in the stacking area; determining the target placement position according to the luggage size information, the category information, the stack type information, a preset three-dimensional model and a preset stacking rule, wherein the preset stacking rule is determined based on the stacking stability of the luggage and the space utilization rate of the stacking area; the preset three-dimensional model is a virtual three-dimensional model of the stacking area; using an obstacle avoidance algorithm to generate a motion trajectory of the omnidirectional fork taking robot according to the current position of the luggage and the target placement position, wherein the obstacle avoidance algorithm is used to calculate the current position of the luggage and the target placement position collected every preset time length to obtain the motion trajectory; generating luggage coordinate information and stacking action sequence according to the target placement position and the motion trajectory based on a metronome in the luggage transfer and stacking system; controlling the omnidirectional fork taking robot to transport the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence.

[0130] The processor further implements the following steps when executing the program: after the omnidirectional forklift robot is controlled to carry the adjusted luggage to the target placement position in the stacking area according to the luggage coordinate information and the stacking action sequence, the method further includes: determining an actual placement position of the luggage according to the category information, the size information, and the stacking type information; calculating a safety offset according to the size information and the equipment information of the omnidirectional forklift robot, wherein the safety offset is used to prevent the omnidirectional forklift robot and the luggage from colliding; determining a position offset of the luggage according to the safety offset, the target placement position, and the actual placement position; in the case that the position offset is not within a preset numerical range, adjusting the luggage by the omnidirectional forklift robot until the position offset between the actual placement position and the target placement position is less than or equal to the safety offset.

[0131] The processor further implements the following steps when executing the program: in the case that the position offset is within the preset numerical range, the method further includes: determining remaining space information of the luggage according to the second point cloud data and the preset three-dimensional model; judging whether the stacking area can continue to stack the luggage according to the remaining space information; in the case that the remaining space information indicates that the stacking area can continue to stack the luggage, determining whether to adjust other luggage within a preset range of the luggage by an obstacle avoidance algorithm, so that the stacking area can continue to transfer and stack the luggage received by the transfer and stacking system; in the case that the remaining space information indicates that the stacking area cannot continue to stack the luggage, ending the operation of stacking the luggage received by the transfer and stacking system.

[0132] The processor further implements the following steps when executing the program: collecting first luggage information of the luggage and a first image of the luggage, and identifying category information and state information of the luggage according to the first image, including: collecting the first luggage information of the luggage by radio frequency identification technology, wherein the luggage information at least includes luggage identification information; collecting a surface image of the luggage by a two-dimensional camera in a preset area to obtain the first image; wherein a constant light source is deployed in the preset area; storing the first luggage information and the first image to a preset storage space; identifying the first image by using a preset image recognition algorithm to obtain the category information and the state information, wherein the state information includes abnormal information, standing posture information, and basket loading information.

[0133] The processor further implements the following steps when executing the program: determining whether to perform the picking operation on the luggage according to the first luggage information, the category information, and the state information, including: determining whether the luggage meets a first picking condition according to flight information in the first luggage information, to obtain a first determination result; determining whether the luggage meets a second picking condition according to the category information and the state information, to obtain a second determination result; determining whether the luggage meets a third picking condition according to a quantity of the luggage in the luggage transfer and stacking system within a preset time period, to obtain a third determination result; and determining whether to perform the picking operation on the luggage according to the first determination result, the second determination result, and the third determination result.

[0134] The processor further implements the following steps when executing the program: the second picking condition includes at least one of the following: condition 1: the category information indicates that the luggage belongs to a preset category, and the state information indicates that the luggage belongs to a preset state; condition 2: abnormal information in the state information represents that the luggage does not have an abnormality of a pull rod extending out; condition 3: basket loading information in the state information indicates that the luggage is in a preset basket loading state; and condition 4: standing posture information in the state information indicates that the luggage is in a preset posture.

[0135] The device in the present application can be a server, a PC, a PAD, a mobile phone, etc.

[0136] The present application also provides a computer program product adapted to execute the program executed by the processor when executed on a data processing device.

[0137] Those skilled in the art should understand that embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0138] The present application is described with reference to flowcharts and / or block diagrams according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 An apparatus for performing the functions specified in one or more flows and / or blocks in the flowcharts and / or block diagrams. Figure 1 An apparatus for performing the functions specified in one or more flows and / or blocks in the flowcharts and / or block diagrams.

[0139] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0141] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0142] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information such as computer program instructions. Memory is an example of computer readable media. A computer can further include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or non-volatile random access memory (NVRAM) about which the computer stores information, such as computer program instructions.

[00410] More specific examples (a non-exhaustive list) of the computer readable medium include an electrical connection (electrical) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or Flash memory), an optical fiber (optical), a portable compact disc read only memory (CD-ROM), and a digital versatile disc (DVD). Note that the computer readable medium can even be paper or another suitable medium upon which the computer program instructions can be printed, as the medium is a computer readable medium. In another

[0143] Computer readable media includes permanent and non-permanent, removable and non-removable media which can be implemented by any method or technology for storage of information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically programmable read only memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0144] It is also to be noted that the terms "comprising", "including", and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0145] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0146] The embodiments of the present application are only illustrative and are not intended to limit the present application. Various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A baggage transfer and palletizing method, characterized in that: The method is applied to a baggage transfer and palletizing system, which comprises at least: a lower-layer pull-distance conveyor line, a lifting mechanism, an upper-layer conveyor line, a baggage harness, and an omnidirectional fork-picking robot, including: When detecting that a piece of baggage has entered the baggage transfer and palletizing system, collecting first baggage information and a first image of the baggage, and identifying type information and status information of the baggage based on the first image; determining whether to perform a reclaim operation on the baggage based on the first baggage information, the type information, and the status information; and if the reclaim operation is performed on the baggage, reclaiming the baggage to the lower-level pull-distance conveyor line and collecting second baggage information of the baggage; When the first baggage information and the second baggage information are identical, the baggage is lifted to the upper conveyor line by the lifting mechanism, the baggage is transported to the reclaiming platform by the upper conveyor line, and first point cloud data of the baggage is collected; calculating wheel orientation information based on the first point cloud data, and adjusting the luggage to a preset luggage posture based on the wheel orientation information to obtain an adjusted luggage; Second point cloud data is collected for the stacking area of ​​the luggage rack, a target placement position of the luggage in the stacking area of ​​the luggage rack is determined based on the first point cloud data, the second point cloud data, and the type information, and the adjusted luggage is moved to the target placement position by the omnidirectional fork robot.

2. The method according to claim 1, characterized in that The method includes collecting second point cloud data for the stacking area of ​​the luggage rack, determining a target placement position of the luggage in the stacking area of ​​the luggage rack based on the first point cloud data, the second point cloud data, and the type information, and moving the adjusted luggage to the target placement position by the omnidirectional forklift robot, including: determining baggage size information based on the first point cloud data, and determining pallet shape information based on the second point cloud data; wherein the pallet shape information is information describing the pallet shape of the baggage in the palletizing area; determining the target placement location based on the baggage size information, the type information, the pallet type information, a preset three-dimensional model, and a preset palletizing rule, wherein the preset palletizing rule is determined based on the stacking stability of the baggage and the space utilization rate of the palletizing area; and the preset three-dimensional model is a virtual three-dimensional model of the palletizing area; An obstacle avoidance algorithm is used to generate a motion trajectory of the omnidirectional forklift robot based on the current position of the luggage and the target placement position, wherein the obstacle avoidance algorithm is used to calculate the current position of the luggage and the target placement position collected every preset time period to obtain the motion trajectory; Generate baggage coordinate information and a palletizing action sequence based on the target placement position and the motion trajectory based on the metronome in the baggage transfer and palletizing system; The omnidirectional fork robot is controlled according to the luggage coordinate information and the palletizing action sequence to carry the adjusted luggage to a target placement position in the palletizing area.

3. The method according to claim 2, characterized in that After controlling the omnidirectional fork robot to carry the adjusted baggage to a target placement position in the palletizing area according to the baggage coordinate information and the palletizing action sequence, the method further includes: determining an actual placement location of the luggage based on the type information, the size information, and the stack type information; Calculating a safety offset based on the size information and device information of the omnidirectional fork-picking robot, wherein the safety offset is used to prevent the omnidirectional fork-picking robot from colliding with the luggage harness; determining a position offset of the luggage according to the safety offset, the target placement position, and the actual placement position; When the position offset is not within the preset value range, the luggage is adjusted by the omnidirectional fork robot until the position offset between the actual placement position of the luggage and the target placement position is less than or equal to the safety offset.

4. The method according to claim 3, characterized in that The method further comprises: When the position offset is within the preset value range, determining the remaining space information of the luggage equipment according to the second point cloud data and the preset three-dimensional model; determining whether the stacking area can continue to stack luggage based on the remaining space information; If the remaining space information indicates that baggage can continue to be stacked, the obstacle avoidance algorithm determines whether to adjust other baggage within the preset range of the baggage so that the stacking area can continue to stack baggage received by the baggage transfer and palletizing system; When the remaining space information indicates that the baggage cannot be stacked any further, the operation of stacking the baggage received by the baggage transfer and stacking system is terminated.

5. The method according to claim 1, wherein Collecting first luggage information and a first image of the luggage, and identifying type information and status information of the luggage based on the first image, including: collecting first luggage information of the luggage by radio frequency identification technology, wherein the luggage information at least includes: luggage identification information; The first image is obtained by capturing a surface image of the luggage using a two-dimensional camera within a preset area; wherein a constant light source is deployed within the preset area; storing the first luggage information and the first image in a preset storage space; The first image is recognized by using a preset image recognition algorithm to obtain the type information and the status information, wherein the status information includes: abnormal information, standing posture information, and basket loading information.

6. The method according to claim 5, characterized in that Determining whether to perform a claim operation on the luggage according to the first luggage information, the type information, and the status information includes: Determining whether the luggage meets a first retrieval condition based on the flight information in the first luggage information, and obtaining a first determination result; determining, based on the type information and the status information, whether the luggage satisfies a second retrieval condition, and obtaining a second determination result; Obtaining a third judgment result based on whether the number of baggage in the baggage transfer and stacking system within a preset time period meets a third extraction condition; Determine whether to perform a reclaim operation on the luggage based on the first judgment result, the second judgment result, and the third judgment result.

7. The method according to claim 6, characterized in that The second extraction condition includes at least one of the following: Condition 1: The category information indicates that the baggage belongs to a preset category, and the status information indicates that the baggage belongs to a preset status; Condition 2: The abnormal information in the status information indicates that the luggage does not have an abnormality in which the handle is extended; Condition 3: The loading information in the status information indicates that the luggage is in a preset loading state; Condition 4: The posture information in the status information indicates that the luggage is in a preset posture.

8. A baggage transfer and stacking device, characterized in that: The device includes a baggage transfer and palletizing system, which includes at least: a lower-layer pull-distance conveyor line, a lifting mechanism, an upper-layer conveyor line, a baggage harness, and an omnidirectional fork-picking robot. The device also includes: an identification unit, configured to, upon detecting that a piece of luggage enters the baggage transfer and palletizing system, collect first baggage information and a first image of the baggage, and identify type information and status information of the baggage based on the first image; a retrieving unit, configured to determine whether to perform a retrieving operation on the baggage based on the first baggage information, the type information, and the status information; and if the retrieving operation is performed on the baggage, retrieve the baggage to the lower-level pull-distance conveyor line and collect second baggage information of the baggage; a lifting unit, configured to, when the first baggage information and the second baggage information are identical, lift the baggage to the upper conveyor line via the lifting mechanism, transport the baggage to the reclaiming platform via the upper conveyor line, and collect first point cloud data of the baggage; an adjustment unit, configured to calculate wheel orientation information based on the first point cloud data, and adjust the luggage to a preset luggage posture based on the wheel orientation information to obtain an adjusted luggage; a handling unit configured to collect second point cloud data for the stacking area of ​​the luggage rack, determine a target placement position for the luggage in the stacking area of ​​the luggage rack based on the first point cloud data, the second point cloud data, and the type information, and carry the adjusted luggage to the target placement position by the omnidirectional forklift robot.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes stored computer instructions, wherein when the computer instructions are executed by a processor, the baggage transfer and palletizing method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The system comprises one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the baggage transfer and palletizing method according to any one of claims 1 to 7.

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