Luggage stacking position determination method and device based on secondary iteration and storage medium

Abstract

The invention provides a luggage stacking position determination method and device based on secondary iteration and a storage medium, and relates to the technical field of luggage stacking position determination.The method comprises the steps that a three-dimensional coordinate system QR corresponding to a current luggage barrow and a to-be-stacked luggage bounding box W corresponding to to-be-stacked luggage are obtained; traversing each preset point to be confirmed in the QR in sequence; if all the preset to-be-confirmed points are traversed and the stacking position corresponding to the to-be-stacked luggage is not determined, acquiring specified to-be-confirmed points to obtain a specified to-be-confirmed point list C; setting the execution states of all the optimized stacking conditions to be closed; traversing each specified point to be confirmed in the C in sequence; if W is located in Cp and does not coincide with any three-dimensional luggage grid, and a preset necessary stacking condition is met, Cp is determined as the stacking position corresponding to the to-be-stacked luggage; according to the method, the efficiency of determining the stacking position corresponding to the to-be-stacked luggage is improved while it is ensured that the stacking position corresponding to the to-be-stacked luggage can be determined.

Description

Technical Field

[0001] This invention relates to the field of luggage placement location determination technology, and in particular to a method, electronic device and storage medium for determining luggage placement location. Background Technology

[0002] In the civil aviation sector, baggage handling is a major challenge for the modern aviation industry. As passenger traffic at airports continues to increase, the amount of passenger baggage is also rising. To improve baggage handling efficiency, some airports use automated baggage handling equipment to move baggage from conveyor belts to baggage carts, which are then transported to the aircraft for loading and check-in. Before stacking baggage, its placement on the baggage cart needs to be determined, based on pre-set stacking conditions. However, due to these conditions, even when there is space available, the placement of the baggage cannot be determined, preventing its stacking. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0004] According to a first aspect of this application, a method for determining baggage stacking position based on a second iteration is provided, the method comprising the following steps:

[0005] T100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage surrounding box W corresponding to the luggage to be stacked; wherein, QR includes several three-dimensional luggage meshes corresponding to the luggage that has already been stacked.

[0006] T200, based on the size of the luggage box to be stacked and the preset traversal rules, sequentially traverses each preset confirmation point in the QR.

[0007] T300: If, after traversing all preset confirmation points, the corresponding placement location for the luggage to be placed is not determined, then a specified confirmation point is obtained to obtain a list of specified confirmation points C = (C1, C2, ..., C...). p C q ), p = 1, 2, ..., q; where C p The p-th designated point to be confirmed is obtained, and q is the number of designated points to be confirmed obtained. When W is located at a designated point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions, and does not meet the preset optimized stacking conditions.

[0008] T400, set the execution status of all optimized placement conditions to off.

[0009] T500, according to the size of the to-be-stowed luggage surrounding box corresponding to the to-be-stowed luggage, sequentially traverses each specified to-be-confirmed point in C.

[0010] T600, if W is located in C p and does not coincide with any three-dimensional luggage grid and meets the preset necessary stowing condition, C p is determined as the stowing position corresponding to the to-be-stowed luggage.

[0011] According to another aspect of the present application, a non-transitory computer readable storage medium is also provided, the storage medium storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by a processor to implement the above-mentioned secondary iteration-based luggage stowing position determination method.

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

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

[0014] The secondary iteration-based luggage stowing position determination method of the present application, if after traversing each to-be-confirmed point in the three-dimensional coordinate system corresponding to the current luggage vehicle, the stowing position corresponding to the to-be-stowed luggage is not determined, a specified to-be-confirmed point is obtained; wherein W is located at the specified to-be-confirmed point, does not coincide with any three-dimensional luggage grid, meets the preset necessary stowing condition and does not meet the preset optimization stowing condition; that is, the specified to-be-confirmed point is a to-be-confirmed point that is denied due to not meeting the optimization stowing condition; then, before the secondary traversal, the execution state of all optimization stowing conditions is set to off, and during the subsequent secondary traversal, only the specified to-be-confirmed point is traversed, thereby ensuring that the stowing position corresponding to the to-be-stowed luggage can be determined while improving the efficiency of determining the stowing position corresponding to the to-be-stowed luggage. BRIEF DESCRIPTION OF DRAWINGS

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

[0016] Figure 1 The flowchart of the secondary iteration-based luggage stowing position determination method provided by the embodiments of the present application. DETAILED DESCRIPTION

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

[0018] It should be noted that, based on the present disclosure, a person skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, an apparatus and / or a method can be implemented using any number of the aspects set forth herein. In addition, this apparatus and / or method can be implemented using other structures and / or functionality in addition to or instead of one or more of the aspects set forth herein.

[0019] Embodiment one:

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

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

[0022] In this embodiment, before determining the stacking position of the to-be-stacked luggage, the stacked luggage on the current luggage cart needs to be identified; the stacked luggage can be identified by an image recognition method or a laser radar scanning method, and after the stacked luggage is identified, the stacked luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point cloud corresponding to the stacked luggage; it can be understood that each three-dimensional luggage surrounding box represents the corresponding spatial stacked luggage.

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

[0024] Further, the to-be-stacked luggage is taken by a preset mechanical hand; wherein when the to-be-stacked luggage is placed, the orientation of the mechanical hand is perpendicular to the side wall of the Y luggage cart in the Y-axis direction in QR.

[0025] Based on the above setting of the mechanical arm orientation, in the subsequent process of determining the stacking position, first, traversal is performed along the direction of the Y axis to facilitate stacking of the luggage and to avoid collision with the stacked luggage.

[0026] S200, a first preset value NUM1=0 is obtained, and W is placed at the origin position corresponding to W in QR.

[0027] In this embodiment, since the position determination of the to-be-stacked luggage is based on the pile shape of the luggage already stacked in the current luggage cart, after each to-be-stacked luggage is stacked, the three-dimensional coordinate system corresponding to the current luggage cart needs to be reacquired; then W is placed at the origin position corresponding to W in QR, so as to determine the optimal stacking position suitable for the current to-be-stacked luggage based on the pile shape corresponding to the current luggage cart.

[0028] Further, the origin position corresponding to W in QR is QR W =(W X , W Y , W Z ); wherein W X is the X-axis coordinate of the origin position corresponding to W in QR, W Y is the Y-axis coordinate of the origin position corresponding to W in QR, and W Z is the Z-axis coordinate of the origin position corresponding to W in QR; W X =L W / 2; W Y =D W / 2; W Z =H W / 2; D W is the width of W in the X-axis direction, and H W is the height of W in the Z-axis direction.

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

[0030] S300, if NUM1xAL Y <L Y -L W , then enter S400; wherein L W is the length of W in the Y-axis direction; and AL Y is the first preset distance.

[0031] Further, if NUM1 x AL Y ≥ L Y -L W , the second preset value NUM2 = 0 and the third preset value NUM3 = 0 are obtained, and S600 is entered.

[0032] S600, if NUM2 x AH Z <H Z -H W , S610 is entered; otherwise, S620 is entered; wherein AH Z is the second preset distance.

[0033] S610, NUM1 = 0 is updated, NUM2 = NUM2 + 1 is updated, and W is placed at the middle position QE W = (W X + NUM3 x AD X , W Y , W Z + NUM2 x AH Z ), S300 is entered.

[0034] S620, if NUM3 x AD X <D X -D W , NUM1 = 0 is updated, NUM2 = 0 is updated, and NUM3 = NUM3 + 1 is updated, W is placed at the middle position QE W = (W X + NUM3 x AD X , W Y , W Z + NUM2 x AH Z ), S300 is entered; otherwise, it is determined that the code storage position corresponding to the to-be-stored luggage is not determined; wherein AD X is the third preset distance.

[0035] Further, AL Y = AH Z = AD X = 20 mm can be set; under this parameter setting, the luggage can be stored more closely under the premise of high traversal efficiency, thereby improving the space utilization rate of the luggage cart.

[0036] In the embodiment, the traversal is performed along the Y-axis direction first, and if the traversal along the Y-axis direction is completed, the coordinate of the Z-axis is increased by AH Z , and then the traversal along the Y-axis is continued, if Z-axis NUM2 x AH Z ≥ H Z -H W, it indicates that the traversal in the Z-axis direction is also completed, at this time, the coordinate of the X-axis needs to be changed, and the traversal in the Y-axis direction is continued; that is, first traversing along the Y-axis direction, then traversing along the Z-axis direction, and finally traversing along the X-axis direction; it can be understood as a three-layer loop to realize the traversal of the entire current luggage cart space; the effect of the traversal in this way is as follows:

[0037] Through the above traversal method, when the luggage is stacked, the luggage to be stacked is first stacked close to the far side of the current luggage cart, presenting a valley shape of large below and small above, so that the mechanical hand does not collide with the stacked luggage when stacking the luggage, avoiding damage to the luggage.

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

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

[0040] Further, determining whether W coincides with at least one of the plurality of three-dimensional luggage grids can include the following steps:

[0041] S410, obtaining the minimum and maximum X-axis coordinates, the minimum and maximum Y-axis coordinates, and the minimum and maximum Z-axis coordinates of each three-dimensional luggage grid in QR to obtain a three-dimensional luggage grid minimum and maximum coordinate list set A=(A1, A2, …, An), i=1, 2, …, n; wherein A is the minimum and maximum coordinate list of the i-th three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; A=(A_min, A_max, A_min, A_max, A_min, A_max, A_min, A_max); A_min and A_max are the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid, A_min and A_max are the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid, and A_min and A_max are the minimum and maximum Z-axis coordinates of the i-th three-dimensional luggage grid. i , …, A n ), i=1, 2, …, n; wherein A i is the minimum and maximum coordinate list of the i-th three-dimensional luggage grid, and n is the number of three-dimensional luggage grids; A i =(A i，X _min, A i，X _max, A i，Y _min, A i，Y _max, A i，Z _min, A i，Z _max); A i，X _min and A i，X _max are the minimum and maximum X-axis coordinates of the i-th three-dimensional luggage grid, A i，Y _min and A i，Y _max are the minimum and maximum Y-axis coordinates of the i-th three-dimensional luggage grid, and A i，Z _min and A i，Z_max represents the minimum and maximum Z-axis coordinates of the i-th 3D luggage mesh, respectively.

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

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

[0044] Similarly, the minimum X-axis coordinate W can be obtained for different positions of W in QR. min，X Maximum X-axis coordinate W max，X Minimum Y-axis coordinate W min，Y Maximum Y-axis coordinate W max，Y Minimum Z-axis coordinate W min，Z and the maximum Z-axis coordinate W max，Z .

[0045] S430, iterate through A, if A i X-axis coordinate interval [A i，X _min, A i，X The x-axis coordinate interval of W[_max] and W min，X W max，X There is overlap, A i Y-axis coordinate interval [A i，Y _min, A i，Y The Y-axis coordinate interval of W[_max] and W min，Y W max，Y There is overlap and A i Z-axis coordinate interval [A i，Z _min, A i，Z The Z-axis coordinate interval of W is [_max] and W. min，Z W max，Z If there is overlap, then W is determined to overlap with at least one of several three-dimensional luggage meshes.

[0046] In this embodiment, whether W collides with the luggage already stored in the QR when W is at a certain position in the QR can be determined through the above steps. If W does not collide with the luggage already stored in the QR when W is at a certain position in the QR, it is further determined whether W meets all the preset storage conditions at the position. The preset storage conditions are set according to the relevant regulations of civil aviation, for example, the luggage with a small volume is located above the luggage with a large volume, and the current luggage to be stored does not exist in the situation of throwing, etc.

[0047] S500, if W coincides with at least one of the plurality of three-dimensional luggage grids or W does not meet at least one of all the preset storage conditions, W is moved along the Y-axis direction by ΔL Y , NUM1 is updated as NUM1+1, and S300 is entered; otherwise, the position of W is determined as the storage position corresponding to the luggage to be stored.

[0048] In this embodiment, due to the setting of the preset storage conditions, after traversing all the positions in the QR, the storage position corresponding to the luggage to be stored may not be determined. In order to store the luggage to be stored in the luggage cart, a second traversal is required.

[0049] Further, the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimization storage conditions; wherein, the execution state of the necessary storage condition is opened, and the execution state of the optimization storage condition includes opened and closed.

[0050] In this embodiment, it can be understood that the necessary storage condition is a storage condition set according to the relevant regulations of civil aviation, for example, the luggage with a small volume is located above the luggage with a large volume, and the current luggage to be stored does not exist in the situation of throwing; and the optimization storage condition is an optimization storage condition set to improve the space utilization of the luggage cart or to make the luggage stored neatly. The execution state of the optimization storage condition can be set to opened or closed. When the execution state of the optimization storage condition is opened, the optimization storage condition needs to be met, otherwise, the optimization storage condition does not need to be met.

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

[0052] S700, if the storage position corresponding to the luggage to be stored is not determined, the execution state of all the optimization storage conditions in the preset storage conditions is set to closed, and S200 is entered.

[0053] In this embodiment, after traversing all positions in the QR, if the corresponding storage position of the luggage to be stored is not determined, the execution state of all optimized storage conditions in the preset storage condition is set to off; then S200 is entered, and each position in the QR is traversed again to determine the corresponding storage position of the luggage to be stored.

[0054] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart, the luggage-to-be-stored bounding box W corresponding to the luggage to be stored, and the length L of the luggage cart in the Y-axis direction in the QR are obtained Y , the width D in the X-axis direction X , and the height H in the Z-axis direction Z Then, according to the size of W along the Y-axis direction, the space in the Y-axis direction of the current luggage cart is traversed with a step size ΔL Y If W does not coincide with all three-dimensional luggage grids and W satisfies all preset storage conditions, the current position of W is determined as the corresponding storage position of the luggage to be stored; the traversal is sequentially performed along the Y-axis, Z-axis and X-axis directions, thereby achieving the purpose of determining the corresponding storage position of W.

[0055] Further, when determining the corresponding storage position of the luggage to be stored, the remaining storage space of the current luggage cart and the size of the luggage to be stored are used as the basis, so that the determined storage position of the luggage to be stored is the best storage position for the current luggage cart; since the judgment condition that the luggage to be stored coincides with the three-dimensional grid is set, the corresponding storage position of the luggage to be stored closely fits the already stored luggage, thereby improving the utilization rate of the luggage cart space.

[0056] Embodiment two:

[0057] Based on the method in embodiment one, if the corresponding storage position of the luggage to be stored cannot be determined, the corresponding storage position of the luggage to be stored can be further determined by the method in this embodiment, which can include the following steps:

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

[0059] In this embodiment, before determining the storage position of the luggage to be stored, the already stored luggage on the current luggage cart needs to be identified; the already stored luggage can be identified by an image recognition method or a laser radar scanning method, and after the already stored luggage is identified, the already stored luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point cloud corresponding to the already stored luggage; it can be understood that each three-dimensional luggage bounding box represents the corresponding space of the already stored luggage.

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

[0061] Q200, according to the size of W and the preset traversal rule, each preset to-be-confirmed point in QR is traversed in turn.

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

[0063] Q400, W satisfies all preset stacking conditions, the target to-be-confirmed point is confirmed as the stacking position corresponding to the luggage to be stacked; otherwise, the next to-be-confirmed point is traversed; wherein the preset stacking conditions include a plurality of necessary stacking conditions and a plurality of optimization stacking conditions.

[0064] In this embodiment, the method in steps S200-S620 of embodiment one can be used to traverse each preset to-be-confirmed point in QR in turn, which is not described here; the preset to-be-confirmed point can be the coordinate point corresponding to the center point of W each time W moves in embodiment one.

[0065] Q500, if all preset to-be-confirmed points are traversed and the stacking position corresponding to the luggage to be stacked is not determined, Q600 is entered.

[0066] In this embodiment, due to the setting of the preset stacking conditions, after traversing all positions in QR, the stacking position corresponding to the luggage to be stacked may not be determined; however, there is still stacking space in the luggage cart. In order to be able to stack the luggage to be stacked in the luggage cart, secondary traversal is required.

[0067] Q600, according to the preset stacking condition degradation rule, the plurality of optimization stacking conditions are degraded, and Q200 is entered.

[0068] Further, the execution state of the necessary stacking condition is open, and the execution state of the optimization stacking condition includes open and close.

[0069] In this embodiment, it can be understood that the necessary stacking conditions are stacking conditions set according to the relevant regulations of civil aviation, such as: small luggage is placed on top of large luggage, and there will be no situation where the luggage to be stacked is thrown away; while the optimized stacking conditions are optimized stacking conditions set to improve the space utilization of the luggage cart or to make the luggage stacked neatly. The execution state of the optimized stacking conditions can be set to on or off. When the execution state of the optimized stacking conditions is on, the optimized stacking conditions need to be met; otherwise, the optimized stacking conditions do not need to be met.

[0070] Step Q600 includes the following steps:

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

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

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

[0074] Q620, obtain each optimized placement condition to get an optimized placement condition list B = (B1, B2, ..., B...). j B m ), j = 1, 2, ..., m; where, B j Let m be the j-th optimized stacking condition, and m be the number of optimized stacking conditions.

[0075] Q630, Based on B, determine the priority of each optimized placement condition to obtain the optimized placement condition priority list YB = (YB1, YB2, ..., YB...). j , ..., YB m ); where YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Prior to B r+1 implement.

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

[0077] Q650, if NM > 0 and the placement location of the luggage to be placed cannot be determined, then B in B... NM Set the execution status to off; update NM = NM-1; enter Q200.

[0078] In the embodiment, the priority of any necessary stowing condition is greater than the priority of any optimization stowing condition, that is, the necessary stowing condition is executed before the optimization stowing condition; and the optimization stowing condition is also provided with the priority of execution, and the optimization stowing condition with greater priority is executed before the optimization stowing condition with smaller priority.

[0079] It can be understood that after the first traversal, there are many reasons for failing to determine the stowing position of the luggage to be stowed, some positions may not satisfy the necessary stowing condition, and some positions may not satisfy the optimization stowing condition; and among the optimization stowing conditions that do not satisfy the optimization stowing condition, some do not satisfy the optimization stowing condition with higher priority, and some do not satisfy the optimization stowing condition with lower priority. Therefore, in the embodiment, the optimization stowing condition with the smallest priority is first closed, and then Q200 is entered to re-traverse each position in QR. If the stowing position corresponding to the luggage to be stowed is still not determined, the optimization stowing condition with the next priority is closed, and the stowing position corresponding to the luggage to be stowed is determined.

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

[0081] Q660, if NM≤0 or the stowing position corresponding to the luggage to be stowed is determined, the current processing is exited.

[0082] In the embodiment, if NM≤0, it indicates that all the optimization stowing conditions have been closed, and the current processing is exited.

[0083] Further, in Q650, after each optimization stowing condition is closed, it is judged whether the closed optimization stowing condition is executed in the first traversal process. If yes, Q200 is entered; otherwise, the next optimization stowing condition is closed, and it is again judged whether the closed optimization stowing condition is executed in the first traversal process.

[0084] Through the above method, the stowing position corresponding to the luggage to be stowed can be directly determined in the second traversal process, so that the number of traversal times is reduced, and the efficiency of determining the stowing position corresponding to the luggage to be stowed is improved.

[0085] In the embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage are acquired; according to the size of W and a preset traversal rule, each preset to-be-confirmed point in QR is sequentially traversed; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all preset stowing conditions, the target to-be-confirmed point is confirmed as a stowing position corresponding to the to-be-stowed luggage; otherwise, the next to-be-confirmed point is traversed; wherein the preset stowing conditions include a plurality of necessary stowing conditions and a plurality of optimized stowing conditions; if all preset to-be-confirmed points are traversed and the stowing position corresponding to the to-be-stowed luggage cannot be determined, the plurality of optimized stowing conditions are downgraded according to a preset stowing condition downgrade rule, and then each preset to-be-confirmed point in QR is sequentially traversed according to the size of W and the preset traversal rule; in the application, the preset stowing conditions are downgraded, so that the conditions for determining the stowing position corresponding to the to-be-stowed luggage are relaxed, and the stowing position corresponding to the to-be-stowed luggage is more easily determined, and in the case that there is stowing space, the stowing position of the to-be-stowed luggage can be determined.

[0086] Embodiment three

[0087] In embodiment one, due to the limitation of the necessary stowing conditions and the optimized stowing conditions, the stowing position corresponding to the to-be-stowed luggage may not be determined under the premise that the luggage cart has remaining stowing space, based on which, the following method is provided to further determine the stowing position corresponding to the to-be-stowed luggage:

[0088] H100, the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage are acquired; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage.

[0089] In the embodiment, before determining the stowing position of the to-be-stowed luggage, the stowed luggage on the current luggage cart needs to be identified; the stowed luggage can be identified by an image recognition method or a laser radar scanning method, and after the stowed luggage is identified, the stowed luggage can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the stowed luggage; it can be understood that each three-dimensional luggage surrounding box represents the corresponding stowed luggage in space.

[0090] For the to-be-stowed luggage, the size information of the to-be-stowed luggage surrounding box corresponding to the to-be-stowed luggage can be acquired by image recognition; at the same time, the three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space.

[0091] H200, according to the size of W and a preset traversal rule, each preset to-be-confirmed point in QR is sequentially traversed.

[0092] In this embodiment, the method in steps S200-S620 of Embodiment 1 can be used to traverse each preset point to be confirmed in QR sequentially, which will not be elaborated here; the preset point to be confirmed can be the coordinate point corresponding to the center point of W each time W moves in Embodiment 1.

[0093] H300, if the placement location of the luggage to be placed cannot be determined from all the points to be confirmed, then obtain each optimized placement condition to obtain an optimized placement condition list B = (B1, B2, ..., B...). j B m ), j = 1, 2, ..., m; where, B j Let m be the j-th optimized stacking condition, and m be the number of optimized stacking conditions.

[0094] In this embodiment, due to the preset stacking conditions, after traversing all positions in the QR, the corresponding stacking position of the luggage to be stacked may not be determined. However, there is still stacking space in the luggage cart at this time. In order to stack the luggage to be stacked into the luggage cart, a second traversal is required.

[0095] H400, based on B, determine the priority of each optimized placement condition to obtain the optimized placement condition priority list YB = (YB1, YB2, ..., YB...). j , ..., YB m ); where YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Prior to B r+1 implement;

[0096] H500, obtain the fourth preset value NM = m;

[0097] H600, if NM > 0 and the placement location of the luggage to be placed cannot be determined, then B in B will be removed. NM Set the execution status to off; update NM = NM-1; enter H200.

[0098] In this embodiment, the priority of any necessary stacking condition is greater than the priority of any optimized stacking condition, that is, the necessary stacking condition is executed before the optimized stacking condition; and the optimized stacking condition is also set with an execution priority, and the optimized stacking condition with a higher priority is executed before the stacking condition with a lower priority.

[0099] It can be understood that after the first traversal, the reasons for failing to determine the storage position of the luggage to be stored are various, some positions may not meet the necessary storage conditions, and some positions may not meet the optimized storage conditions; and among the optimized storage conditions that do not meet the optimized storage conditions, some do not meet the optimized storage conditions with higher priority, and some do not meet the storage conditions with lower priority. Therefore, in the embodiment, the optimized storage condition with the lowest priority is first closed, and then H200 is entered to re-traverse each position in QR. If the storage position corresponding to the luggage to be stored is still not determined, the optimized storage condition with the next priority is closed, and the storage position corresponding to the luggage to be stored is determined.

[0100] Further, after step H600, the method further comprises:

[0101] H700, if NM≤0 or the storage position corresponding to the luggage to be stored is determined, the current processing is exited.

[0102] In the embodiment, if NM≤0, it indicates that all the optimized storage conditions have been closed, and the current processing is exited.

[0103] Further, in H600, after closing each optimized storage condition, it is judged whether the closed optimized storage condition is executed in the first traversal process. If yes, H200 is entered; otherwise, the next optimized storage condition is closed, and it is judged again whether the closed optimized storage condition is executed in the first traversal process.

[0104] Further, step H200 comprises the following steps:

[0105] H210, when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid, H211 is entered; otherwise, the next to-be-confirmed point is traversed; wherein the target to-be-confirmed point is any preset to-be-confirmed point.

[0106] H211, if W meets all the preset storage conditions, the target to-be-confirmed point is confirmed as the storage position corresponding to the luggage to be stored; otherwise, the next to-be-confirmed point is traversed; wherein the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimized storage conditions.

[0107] Further, step H200 comprises the following steps:

[0108] H221, a first preset value NUM1=0, a second preset value NUM2=0 and a third preset value NUM3=0 are obtained; and W is placed at the corresponding origin position of W in QR.

[0109] H222, if NUM1×ΔL Y <L Y -L Wthen enter H223; wherein, L Y is the length of the luggage cart in the Y-axis direction in the QR, L W is the length of W in the Y-axis direction; ΔL Y is the first preset distance.

[0110] H223, determine whether W coincides with at least one of the plurality of three-dimensional luggage grids, and determine whether W satisfies all the preset stacking conditions.

[0111] H224, if W coincides with at least one of the plurality of three-dimensional luggage grids or W does not satisfy at least one of the preset stacking conditions, move W in the Y-axis direction by ΔL Y , update NUM1=NUM1+1, enter H222; otherwise, determine the current position of W as the stacking position corresponding to the luggage to be stacked.

[0112] Further, step H222 further comprises: if NUM1x ΔL Y ≥ L Y -L W , then enter H225.

[0113] H225, if NUM2x ΔH Z <H Z -H W , then enter H226; otherwise, enter H227; wherein, ΔH Z is the second preset distance; H Z is the height of the luggage cart in the Z-axis direction in the QR.

[0114] H226, update NUM1=0, update NUM2=NUM2+1, place W at the intermediate position QE W =(W X +NUM3x ΔD X , W Y , W Z +NUM2x ΔH Z ), and enter H222.

[0115] H227, if NUM3x ΔD X <D X -D W , update NUM1=0, update NUM2=0, update NUM3=NUM3+1, place W at the intermediate position QE W =(W X +NUM3x ΔD X , W Y , W Z +NUM2x ΔH Z) is in H222, enter H222; otherwise, it is determined that the storage position corresponding to the luggage to be stored is not determined; wherein, ΔD X is a third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

[0116] By the above method, the storage position corresponding to the luggage to be stored can be directly determined in the process of secondary traversal, thereby avoiding excessive traversal times and improving the efficiency of determining the storage position corresponding to the luggage to be stored.

[0117] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the waiting-to-be-stored luggage box W corresponding to the luggage to be stored are obtained; each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and a preset traversal rule; when W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W satisfies all preset storage conditions, the target to-be-confirmed point is confirmed as the storage position corresponding to the luggage to be stored; otherwise, the next to-be-confirmed point is traversed; wherein, the preset storage conditions include a plurality of necessary storage conditions and a plurality of optimized storage conditions; if all preset to-be-confirmed points are traversed and the storage position corresponding to the luggage to be stored is not determined, the plurality of optimized storage conditions are downgraded according to a preset storage condition downgrade rule, and each preset to-be-confirmed point in the QR is sequentially traversed according to the size of W and the preset traversal rule; in the present application, the preset storage conditions are downgraded, the conditions for determining the storage position corresponding to the luggage to be stored are relaxed, the storage position corresponding to the luggage to be stored is more easily determined, and in the case that there is storage space, it is ensured that the storage position of the luggage to be stored can be determined.

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

[0119] Embodiment Four

[0120] A twice-iterative-based luggage stowing position determination method will be introduced below with reference to the flowchart of the twice-iterative-based luggage stowing position determination method shown in FIG. 2. Figure 1

[0121] The twice-iterative-based luggage stowing position determination method can include the following steps:

[0122] T100, obtaining a three-dimensional coordinate system QR corresponding to the current luggage cart and a to-be-stowed luggage surrounding box W corresponding to the to-be-stowed luggage; wherein the QR includes a plurality of three-dimensional luggage grids corresponding to the stowed luggage.

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

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

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

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

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

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

[0129] ​T230, determining whether W coincides with at least one of the plurality of three-dimensional luggage grids and whether W satisfies all preset stacking conditions; wherein the preset stacking conditions include necessary stacking conditions and optimization stacking conditions.

[0130] T240, if W coincides with at least one of the plurality of three-dimensional luggage grids or W does not satisfy at least one of all preset stacking conditions, moving W along the Y-axis direction by ΔL Y , updating NUM1 = NUM1 + 1, and entering T220; otherwise, determining the current position of W as the stacking position corresponding to the luggage to be stacked.

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

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

[0133] T232, if W satisfies all necessary stacking conditions, entering T233; otherwise, traversing the next to-be-confirmed point.

[0134] T233, if W satisfies all optimization stacking conditions, determining the current to-be-confirmed point as the stacking position corresponding to the luggage to be stacked; otherwise, determining the current to-be-confirmed point as the specified to-be-confirmed point.

[0135] Further, step T200 can further include: if NUM1 x ΔL Y ≥ L Y -L W , entering T250.

[0136] T250, if NUM2 x ΔH Z < H Z -H W , entering T260; otherwise, entering T270; wherein ΔH Z is a second preset distance; H Z is the height of the luggage cart in the Z-axis direction in the QR.

[0137] T260, updating NUM1 = 0, updating NUM2 = NUM2 + 1, placing W at the intermediate position QE W = (W X + NUM3 x ΔD X , W Y , W Z + NUM2 x ΔH Z ), and entering T220.

[0138] T270, if NUM3 x ΔD X < D XD W , update NUM1=0, update NUM2=0, update NUM3=NUM3+1, place W at the middle position QE W =(W X +NUM3*AD X , W Y , W Z +NUM2*AH Z ) and enter T220; otherwise, it is determined that the storage position corresponding to the luggage to be stored is not determined; wherein AD X is a third preset distance; D X is the width of the luggage cart in the X-axis direction in the QR.

[0139] In this embodiment, the order of traversal is first along the Y-axis direction, and if the traversal along the Y-axis direction is completed, the Z-axis coordinate is increased by AH Z , and then the traversal along the Y-axis is continued again. If Z-axis NUM2*AH Z H Z -H W , it means that the traversal in the Z-axis direction is also completed, at which time the X-axis coordinate needs to be changed, and the traversal in the Y-axis direction is continued. That is, first along the Y-axis direction, then along the Z-axis direction, and finally along the X-axis direction. It can be understood that it is a three-layer loop to realize the traversal of the entire current luggage cart space. The effect of this kind of traversal is as follows:

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

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

[0142] In the embodiment, when traversing each to-be-confirmed point in the QR for the first time, at a to-be-confirmed point, it is first determined whether the to-be-confirmed point coincides with a three-dimensional luggage grid, then whether the to-be-confirmed point meets the necessary stacking condition, and finally whether the to-be-confirmed point meets the optimized stacking condition. Since there are multiple judgment conditions, after traversing each to-be-confirmed point, the stacking position corresponding to the to-be-stacked luggage may not be determined.

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

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

[0145] In the embodiment, the execution state of the optimized stacking condition can be set to on or off. In the first traversal, the execution state of all optimized stacking conditions is set to on. If the stacking position corresponding to the to-be-stacked luggage is not determined in the first traversal, the execution state of all optimized stacking conditions is set to off. Then, in the second traversal of each specified to-be-confirmed point in C, the optimized stacking condition is not executed, so that the stacking position corresponding to the to-be-stacked luggage can be quickly determined.

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

[0147] In the embodiment, it should be noted that the first traversal is according to the preset traversal rule, that is, the three-layer loop traversal mode is used to traverse each to-be-confirmed point in the QR. The second traversal is to traverse each specified to-be-confirmed point in C, which does not need to execute the three-layer loop traversal mode, but only needs to traverse each specified to-be-confirmed point in C one by one, so that the traversal efficiency can be greatly improved.

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

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

[0150] Embodiment five:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0171] It should be noted that the necessary stacking conditions are set according to the relevant regulations of civil aviation, such as placing small baggage on top of large baggage to prevent baggage from being thrown away. On the other hand, the optimized stacking conditions are set to improve the space utilization of baggage carts or to make baggage stacked neatly. The execution status of the optimized stacking conditions can be set to on or off. When the execution status of the optimized stacking conditions is on, the optimized stacking conditions must be met; otherwise, the optimized stacking conditions do not need to be met.

[0172] R400, based on B, determine the priority of each optimized placement condition to obtain the optimized placement condition priority list YB = (YB1, YB2, ..., YB...). j , ..., YB m ); where YB j For B j Corresponding priority; YB r >YB r+1 ; r = 1, 2, ..., m-1; B r Prior to B r+1 implement.

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

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

[0175] R600, if NM > 0, then obtain B. NM The corresponding intermediate points to be confirmed are used to obtain the list D of the NMth intermediate points to be confirmed. NM =(D NM，1 D NM，2 D NM，u D NM，f(NM) ), u = 0, 1, ..., f(NM); where, D NM，u For B NM The corresponding u-th intermediate point to be confirmed, f(NM) is B NM The corresponding number of intermediate points to be confirmed; B NM The corresponding intermediate point to be confirmed is that it does not satisfy B. NM Points pending confirmation.

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

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

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

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

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

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

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

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

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

[0185] Further, in the present application, the optimized stacking conditions are closed according to the priority, the optimized stacking condition with the smallest priority is closed first, and the optimized stacking condition with the smallest priority has the smallest influence on the determined stacking position of the to-be-stacked luggage. Therefore, the present application can determine the stacking position corresponding to the to-be-stacked luggage under the premise of small influence. Meanwhile, the subsequent traversal is not full traversal, and therefore the present application can also improve the efficiency of determining the stacking position corresponding to the to-be-stacked luggage.

[0186] Embodiment six:

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

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

[0189] In this embodiment, before determining the stacking position of the to-be-stacked luggage, it is necessary to identify the already-stacked luggage on the current luggage cart; the already-stacked luggage can be identified by an image recognition method or a laser radar scanning method, and after identifying the already-stacked luggage, the already-stacked luggage can be segmented to generate a plurality of three-dimensional luggage grids containing the point cloud corresponding to the already-stacked luggage. It can be understood that each three-dimensional luggage surrounding box represents the corresponding space of the already-stacked luggage.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0207] E600 determines whether the target point to be confirmed is the corresponding stacking position of the luggage to be stacked, based on each three-dimensional luggage grid that coincides with W after moving downward ΔHA.

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

[0209] E610, obtain each 3D luggage mesh that coincides with W after moving downward ΔHA, to obtain the first 3D luggage mesh list G = (G1, G2, ..., G...). a , ..., G b ), a = 1, 2, ..., b; where G a Let b be the a-th 3D baggage grid that coincides with W after moving down ΔHA, and let b be the number of 3D baggage grids that coincide with W after moving down ΔHA.

[0210] In this embodiment, if W is moved down by a fourth preset distance ΔHA and coincides with several three-dimensional luggage grids, it means that there are already placed luggage within the distance range of ΔHA below the luggage to be placed. At this time, it is possible to obtain each three-dimensional luggage grid that coincides with W after being moved down by ΔHA.

[0211] E620, obtain the projected area of ​​each three-dimensional luggage mesh in G on the bottom surface of W, so as to obtain the corresponding projected area list TG = (TG1, TG2, ..., TG2) of G. a , ..., TG b ); where TG a For G a The projected area on the bottom surface of W.

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

[0213] E640, if ZG / ZW≥DE, then proceed to E650; otherwise, determine that the target point to be confirmed is not the corresponding placement position of the luggage to be placed; ZW is the area of ​​the bottom surface of W, DE is the preset first area ratio threshold, DE<1.

[0214] In this embodiment, the value of DE can be set to 0.9, or other values ​​that are close to or equal to 1. If ZG / ZW≥DE, it means that the area of ​​the lower surface of the baggage to be stacked is basically the same as the area of ​​the upper surface of the baggage already stacked below. It can be considered that the size of the baggage to be stacked is not greater than the size of the baggage already stacked below. That is, there will be no situation where large baggage presses down on small baggage, which complies with the relevant regulations of civil aviation.

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

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

[0217] E652, obtain the 3D luggage mesh that coincides with W after moving ΔHB along the Y-axis of QR, to obtain the second 3D luggage mesh list F = (F1, F2, ..., F c F d ), c = 1, 2, ..., d; where, F c The c-th 3D luggage grid is the W that is moved ΔHB along the preset direction of the Y-axis of QR, and d is the number of 3D luggage grids that are moved ΔHB along the preset direction of the Y-axis of QR.

[0218] E653, obtain the projected area of ​​each 3D luggage mesh in F on the side of W perpendicular to the Y-axis, so as to obtain the corresponding projected area list TF = (TF1, TF2, ..., TF3) of F. c , ..., TF d ); where TF c For F c The projected area of ​​W on the side perpendicular to the Y-axis.

[0219] E654, Based on TF, determine the total projected area of ​​the side corresponding to F: ZF = ∑ d c＝1 TF c .

[0220] E655, if ZF / ZW'≥DE', then the target point to be confirmed is determined as the placement position corresponding to the luggage to be placed; otherwise, the target point to be confirmed is determined not to be the placement position corresponding to the luggage to be placed; ZW' is the area of ​​the side of W perpendicular to the Y-axis, DE' is the preset second area ratio threshold, DE'<1.

[0221] In this embodiment, during the luggage stacking process, there may be a situation where two already stacked luggage items each have handles that protrude from the overall luggage structure and also correspond to a three-dimensional luggage grid. In this case, during the process of traversing the stacking position corresponding to the luggage to be stacked, the current luggage item may be placed between the handles of the two already stacked luggage items. This will result in both luggage items having a large amount of space, which will have a certain impact on the subsequent luggage stacking.

[0222] Therefore, by the method in steps E651-E655, it can be determined that whether the side of the current luggage to be placed along the Y-axis direction is adjacent to the side of the placed luggage or the handle of the placed luggage when the target to-be-confirmed point is reached, so as to avoid determining the placing position of the current luggage between the handles of the two placed luggages, causing the two luggages to have a large space, affecting the subsequent placing of the luggage, and making the placing of the luggages more compact and improving the space utilization of the luggage cart.

[0223] In the embodiment, in the process of determining the placing position of the current luggage to be placed, when W reaches the target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid, and W satisfies all the preset placing conditions, W is moved downward by a fourth preset distance ΔHA, if W after moving downward by ΔHA does not coincide with any three-dimensional luggage grid, it is determined that the target to-be-confirmed point is not the placing position of the luggage to be placed; otherwise, according to each three-dimensional luggage grid coinciding with W after moving downward by ΔHA, it is determined whether the target to-be-confirmed point is the placing position of the luggage to be placed; by the above method, it can be determined whether the current luggage to be placed is in a suspended state, so as to avoid the current luggage to be placed being thrown down and causing damage to the current luggage to be placed.

[0224] Embodiment seven:

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

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

[0227] In the embodiment, before determining the placing position of the luggage to be placed, the placed luggages on the current luggage cart need to be identified; the placed luggages can be identified by an image recognition method or a laser radar scanning method, and after the placed luggages are identified, the placed luggages can be segmented to generate a plurality of three-dimensional luggage grids containing point clouds corresponding to the placed luggages; it can be understood that each three-dimensional luggage box represents the placed luggages in the corresponding space.

[0228] For the luggage to be coded, the size information of the surrounding box corresponding to the luggage to be coded can be obtained through image recognition. At the same time, a three-dimensional coordinate system corresponding to the current luggage cart can be established to quantify the position of each space in the current luggage cart space. The first type of luggage can be understood as a hard luggage box, and the second type of luggage can be understood as a soft luggage bag. The airport management personnel can confirm the type of luggage through manual labeling, and the type of each luggage to be coded can be directly obtained subsequently.

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

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

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

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

[0233] P222, if NUM1xΔL Y <L Y -L W , then enter P223; wherein, L Y is the length of the luggage cart in the Y-axis direction in QR, L W is the length of W in the Y-axis direction; and ΔL Y is the first preset distance.

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

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

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

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

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

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

[0240] In the embodiment, the method of traversing each preset to-be-confirmed point in the QR according to the size of the W and the preset traversal rule is the same as the method in steps S200-S620 in the first example, and thus is not described herein; the preset to-be-confirmed point can be the coordinate point corresponding to the center point of the W each time the W moves in the first example.

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

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

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

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

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

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

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

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

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

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

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

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

[0253] In this embodiment, the space of the luggage cart is divided into a lower space and an upper space, and the lower space includes a first sub-space for stowing the first type of luggage and a second sub-space for stowing the second type of luggage. The hardness of the first type of luggage is less than that of the second type of luggage. If the to-be-stowed luggage is the second type of luggage and the first type of luggage has been stowed in the first sub-space, the dimensions of W and the preset traversal rule are used to sequentially traverse each preset to-be-confirmed point in the three-dimensional coordinate system corresponding to the luggage cart. When W is at a target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid and W meets all the preset stowing conditions, and the target to-be-confirmed point is not located above the first sub-space, the target to-be-confirmed point is determined as the stowing position corresponding to the to-be-stowed luggage. Through the method in the present application, it can be ensured that the luggage with greater hardness will not be stowed on the luggage with smaller hardness, thereby avoiding the situation that the softer luggage is damaged by the harder luggage.

[0254] Embodiment Eight

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0278] In this embodiment, the three-dimensional coordinate system QR corresponding to the current luggage cart and the to-be-stacked luggage bounding box W corresponding to the to-be-stacked luggage are obtained; wherein QR includes a plurality of three-dimensional luggage grids corresponding to the already-stacked luggage; a virtual bounding box corresponding to the virtual luggage is set in QR; wherein the virtual bounding box is located outside the current luggage cart, and the virtual bounding box is adjacent to the four sides of the current luggage cart; the size of the side of the adjacent virtual bounding box is the same as that of the side of the current luggage cart; according to the size of W and the preset traversal rule, each preset to-be-confirmed point in QR is traversed in turn; wherein when W is at the target to-be-confirmed point, if W does not coincide with any three-dimensional luggage grid, W does not coincide with the virtual bounding box and W meets all the preset stacking conditions, the target to-be-confirmed point is determined as the stacking position corresponding to the to-be-stacked luggage; so as to ensure that the stacking position corresponding to the to-be-stacked luggage is determined without exceeding the space range of the luggage cart.

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

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

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

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

[0283] The computer readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the readable program code is carried. Such a propagated data signal can take on many forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium can also be any readable medium that is not a readable storage medium and that can transmit, propagate or transport the program for use by or in connection with an instruction execution system, apparatus or device.

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

[0285] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, for example, through the Internet using an Internet Service Provider.

[0286] Embodiments of the present application also provide an electronic device including a processor and the aforementioned non-transitory computer-readable storage medium.

[0287] The electronic device is merely an example, and should not bring any limitation to the function and use range of embodiments of the present application.

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

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

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

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

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

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

[0294] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0295] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above in various exemplary embodiments of the present invention.

[0296] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention.

Claims

1. A method for determining the luggage stacking position based on quadratic iteration, characterized in that, The method includes the following steps: T100, obtain the three-dimensional coordinate system QR corresponding to the current luggage cart and the luggage surrounding box W corresponding to the luggage to be stacked; wherein, QR includes several three-dimensional luggage meshes corresponding to the luggage that has already been stacked; T200, based on the size of the luggage box corresponding to the luggage to be stacked and the preset traversal rules, sequentially traverses each preset confirmation point in the QR; T300: If, after traversing all preset confirmation points, the corresponding placement location for the luggage to be placed is not determined, then a specified confirmation point is obtained to obtain a list of specified confirmation points C = (C1, C2, ..., C...). p C q ), p = 1, 2, ..., q; where C p The p-th designated point to be confirmed is obtained, and q is the number of designated points to be confirmed obtained; when W is located at a designated point to be confirmed, it does not coincide with any three-dimensional luggage grid, meets the preset necessary stacking conditions, and does not meet the preset optimized stacking conditions. T400, set the execution status of all optimized stacking conditions to off; T500, based on the size of the luggage box corresponding to the luggage to be stacked, sequentially traverse each specified point to be confirmed in C; T600, if W is located at C p If C does not coincide with any three-dimensional luggage grid and meets the preset necessary stacking conditions, then C will be... p The designated placement location for the luggage to be placed has been determined.

2. The method for determining baggage stacking position based on quadratic iteration according to claim 1, characterized in that, Step T200 includes the following steps: T210, obtain the first preset value NUM1 = 0, the second preset value NUM2 = 0 and the third preset value NUM3 = 0; and place W at the origin position corresponding to W in QR; T220, if NUM1×ΔL Y <L Y -L W Then enter T230; where L Y Let L be the length of the luggage cart in the Y-axis direction of the QR line. W Let W be the length of W along the Y-axis; ΔL Y The first preset distance; T230 determines whether W overlaps with at least one of several three-dimensional luggage grids and whether W satisfies all preset stacking conditions; wherein, the preset stacking conditions include necessary stacking conditions and optimized stacking conditions; T240, if W coincides with at least one of several three-dimensional luggage grids or if W does not satisfy at least one of the preset stacking conditions, then W will be moved ΔL along the Y-axis. Y Update NUM1 = NUM1 + 1 and proceed to T220; otherwise, determine the current position of W as the placement position for the luggage to be placed.

3. The method for determining baggage stacking position based on quadratic iteration according to claim 2, characterized in that, Step T230 includes the following steps: T231, if W coincides with at least one of the several three-dimensional luggage grids, then traverse the next point to be confirmed; otherwise, proceed to T232; T232, if W satisfies all the necessary stacking conditions, proceed to T233; otherwise, traverse the next point to be confirmed. T233, if W satisfies all the optimized stacking conditions, then the current point to be confirmed is determined as the stacking position corresponding to the luggage to be stacked; otherwise, the current point to be confirmed is determined as the designated point to be confirmed.

4. The method for determining baggage stacking position based on quadratic iteration according to claim 2, characterized in that, The origin position corresponding to W in QR is QR. W =(W X W Y W Z ); where W X Let W be the x-axis coordinate of the origin position corresponding to W in QR. Y Let W be the Y-axis coordinate of the origin position corresponding to W in QR. Z Let W be the Z-axis coordinate of the origin position corresponding to W in QR; X =L W / 2;W Y =D W / 2;W Z =H W / 2;D W Let W be the width of W along the X-axis, and H be the width of W along the X-axis. W Let W be the height of W in the Z-axis direction.

5. The method for determining baggage stacking position based on quadratic iteration according to claim 4, characterized in that, Step T200 also includes: if NUM1×ΔL Y ≥L Y -L W Then enter T250; T250, if NUM2×ΔH Z <H Z -H W If so, proceed to T260; otherwise, proceed to T270; where ΔH Z H is the second preset distance; Z The height of the luggage cart along the Z-axis in the QR direction; T260, update NUM1 = 0, update NUM2 = NUM2 + 1, place W in the middle position QE W =(W X +NUM3×ΔD X W Y W Z +NUM2×ΔH Z At point ), enter T220; T270, if NUM3×ΔD X <D X -D W Update NUM1 = 0, update NUM2 = 0, update NUM3 = NUM3 + 1, and place W in the middle position QE. W =(W X +NUM3×ΔD X W Y W Z +NUM2×ΔH Z At point ), enter T220; otherwise, determine that the corresponding stacking location for the luggage to be stacked has not been determined; where ΔD X The third preset distance; D X The width of the luggage cart in the X-axis direction of the QR.

6. The method for determining baggage stacking position based on quadratic iteration according to claim 5, characterized in that, ΔL Y =ΔH Z =ΔD X =20mm。 7. The method for determining baggage stacking position based on quadratic iteration according to claim 1, characterized in that, Necessary placement conditions are executed before optimized placement conditions.

8. A non-transitory computer-readable storage medium storing at least one instruction or at least one program segment, characterized in that, The at least one instruction or the at least one program segment is loaded and executed by the processor to implement the baggage placement location determination method based on quadratic iteration as described in any one of claims 1-7.

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

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