Luggage stacking method and device based on forking type end effector and electronic equipment

Abstract

The invention discloses a luggage stacking method and device based on a forking type end effector and electronic equipment, and relates to the technical field of carrying. The luggage stacking method comprises the steps that on the basis of a luggage carrying selection rule, current to-be-carried luggage is determined from a to-be-carried luggage set, and a to-be-placed position set on a target loading appliance is determined; based on the luggage information of the current to-be-carried luggage, screening a candidate position set meeting a multi-dimensional preset constraint, and based on the appliance information of the target loading appliance, the luggage information of all luggage placed on the target loading appliance and the luggage information of the current to-be-carried luggage, determining the score of each candidate position; and determining the candidate position indicated by the maximum score as a target position, and carrying the current to-be-carried luggage to the target position on the target loading appliance by adopting a forking type end effector until all the to-be-carried luggage are carried. The technical problem that in the related technology, a forking type end effector cannot be adopted for automatically and efficiently stacking luggage is solved.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, and more specifically, to a baggage palletizing method and apparatus, and electronic equipment based on a forklift-type end effector. Background Technology

[0002] With the rapid development of the logistics and transportation industry, efficiency and cost management in airport baggage handling are becoming increasingly critical. Palletizing and packing are essentially the same problem, the core being the optimal spatial arrangement of goods within limited containers (such as trailers, containers, and concentrators), despite the differences in container size and baggage dimensions. Three-dimensional packing, as a core component of logistics and transportation, must achieve optimal baggage loading within limited space, avoiding space waste, ensuring no damage to baggage, and adapting to the automated operation requirements of forklift-type end effectors.

[0003] Currently, airport baggage loading still relies on manual labor, resulting in problems such as unreasonable spatial layout, high labor and time costs, and low levels of informatization, making it difficult to meet the demands for efficient logistics. Furthermore, current palletizing algorithms do not take into account the operational characteristics of forklift-type end effectors, leading to loading schemes with issues such as forklift path conflicts and inconvenient forklift operations, impacting the efficiency of automated operations. They also suffer from insufficient capacity to handle multiple constraints, resulting in safety hazards during handling. In addition, with the exponential growth in baggage volume, current palletizing algorithms are prone to getting trapped in local optima or experiencing excessively long computation times, making it difficult to meet the real-time scheduling requirements of airports.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a baggage palletizing method, apparatus, and electronic device based on a forklift-type end effector, to at least solve the technical problem in related technologies that it is impossible to use a forklift-type end effector for automated and efficient baggage palletizing.

[0006] According to one aspect of the present invention, a baggage palletizing method based on a forklift end effector is provided, comprising: acquiring a set of baggage to be transported, and determining the current baggage to be transported from the set of baggage to be transported based on baggage transport selection rules; determining a set of placement locations on a target loading device, and filtering a set of candidate locations that satisfy multi-dimensional preset constraints from the set of placement locations based on the baggage information of the current baggage to be transported; determining a score for each candidate location in the candidate location set based on the device information of the target loading device, the baggage information of all baggage already placed on the target loading device, and the baggage information of the current baggage to be transported, and determining the candidate location indicated by the highest score as the target location; and using a forklift end effector to transport the current baggage to be transported to the target location on the target loading device until all baggage to be transported has been transported.

[0007] Furthermore, based on the baggage handling selection rules, the step of determining the current baggage to be handled from the set of baggage to be handled includes: determining the baggage information of each baggage to be handled in the set of baggage to be handled, wherein the baggage information includes at least: baggage size; if no baggage is placed on the target loading device, determining the baggage to be handled with the largest baggage size as the current baggage to be handled based on the baggage information; if baggage is placed on the target loading device, determining whether there are any unfilled levels on the target loading device, wherein the levels are formed by the stacking of baggage; if there are unfilled levels, determining the height of the baggage on the level, and selecting baggage to be handled with the same height from the set of baggage to be handled to obtain a candidate set of baggage to be handled; selecting the candidate baggage to be handled with the smallest difference between the baggage size and the remaining space size on the level from the candidate set of baggage to be handled as the current baggage to be handled; if there are no unfilled levels, selecting the baggage to be handled with the largest baggage size from the set of baggage to be handled as the current baggage to be handled.

[0008] Further, the step of determining the set of places to be placed on the target loading device includes: if there are unfilled levels on the target loading device, determining the empty positions and the positions above the already placed luggage on the level as places to be placed; if there are no unfilled levels on the target loading device, determining the positions above the already placed luggage as places to be placed.

[0009] Furthermore, before filtering the set of candidate locations that satisfy multidimensional preset constraints from the set of locations to be placed based on the current luggage information of the luggage to be moved, the process further includes: constructing allocation constraints, wherein the allocation constraints are used to determine that each piece of luggage has a unique placement location; constructing boundary constraints, wherein the boundary constraints are used to determine that any piece of luggage does not exceed the spatial range of the target loading device; constructing stability constraints, wherein the stability constraints are used to determine that the contact area of ​​luggage on adjacent levels is greater than a preset area threshold; constructing weight constraints, wherein the weight constraints are used to determine that the weight of the first piece of luggage placed on the upper level is less than the weight of the second piece of luggage adjacent to the first piece of luggage on the lower level; constructing non-overlapping constraints, wherein the non-overlapping constraints are used to determine that the spatial projections of any two pieces of luggage do not intersect; constructing forklift operation constraints, wherein the forklift operation constraints are used to determine that the operating space of the forklift end effector is greater than or equal to a preset space threshold and the placement location of the previous piece of luggage does not obstruct the placement location of the next piece of luggage; and determining multidimensional preset constraints based on allocation constraints, boundary constraints, stability constraints, weight constraints, non-overlapping constraints, and forklift operation constraints.

[0010] Further, the step of selecting a set of candidate locations that satisfy multi-dimensional preset constraints from the set of locations to be placed based on the luggage information of the luggage to be moved includes: determining a first set of locations that satisfy boundary constraints from the set of locations to be placed based on the luggage size and equipment information contained in the luggage information; for each first location in the first set of locations, determining the luggage contact area formed when the luggage to be moved is placed in the first location, and adding the first locations indicated by luggage contact areas greater than a preset area threshold to the second set of locations; for each second location in the second set of locations, determining whether the luggage to be moved satisfies the weight constraint when placed in the second location, and adding each second location that satisfies the weight constraint to the third set of locations; for each third location in the third set of locations, determining whether the luggage to be moved satisfies the non-overlap constraint when placed in the third location, and adding each third location that satisfies the non-overlap constraint to the fourth set of locations; for each fourth location in the fourth set of locations, determining whether the luggage to be moved satisfies the forklift operation constraint when placed in the fourth location, and adding each fourth location that satisfies the forklift operation constraint to the candidate set of locations.

[0011] Furthermore, before determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the luggage information of all luggage already placed on the target loading equipment, and the luggage information of the luggage currently to be moved, the method further includes: constructing a space utilization variable, wherein the space utilization variable is determined based on the luggage size of all luggage on the loading equipment and the equipment size of the loading equipment; and constructing an objective function based on the space utilization variable, wherein the objective function is used to calculate the score of each candidate location.

[0012] Furthermore, the step of determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage already placed on the target loading equipment, and the baggage information of the baggage currently to be transported includes: for each candidate location, determining the baggage space formed by the baggage currently to be transported placed at the candidate location and all baggage already placed on the target loading equipment; determining the first volume of the baggage space; determining the second volume of the target loading equipment based on the equipment information; determining the space utilization rate of the candidate location using an objective function based on the first and second volumes; and determining the score of the candidate location based on the space utilization rate.

[0013] According to another aspect of the present invention, a baggage palletizing device based on a forklift-type end effector is also provided, comprising: a first determining unit, configured to acquire a set of baggage to be transported, and determine the current baggage to be transported from the set of baggage to be transported based on baggage transport selection rules; a second determining unit, configured to determine a set of placement positions on a target loading device, and filter a set of candidate positions that meet multi-dimensional preset constraints from the set of placement positions based on the baggage information of the current baggage to be transported; a third determining unit, configured to determine the score of each candidate position in the candidate position set based on the device information of the target loading device, the baggage information of all baggage already placed on the target loading device, and the baggage information of the current baggage to be transported, and determine the candidate position indicated by the maximum score as the target position; and a transporting unit, configured to transport the current baggage to be transported to the target position on the target loading device using a forklift-type end effector until all baggage to be transported has been transported.

[0014] Further, the first determining unit includes: a first determining module, used to determine the luggage information of each piece of luggage to be moved in the set of luggage to be moved, wherein the luggage information includes at least: luggage size; a second determining module, used to determine the luggage to be moved with the largest size as the current luggage to be moved based on the luggage information when no luggage is placed on the target loading device; a first judging module, used to judge whether there are unfilled levels on the target loading device when luggage is placed on the target loading device, wherein the levels are formed by the stacking of luggage; a third determining module, used to determine the height of the luggage on the level when there are unfilled levels, and select luggage with the same height from the set of luggage to be moved to obtain a candidate set of luggage to be moved; a first selecting module, used to select the candidate luggage to be moved with the smallest difference between the luggage size and the remaining space size on the level from the candidate set of luggage to be moved as the current luggage to be moved; and a second selecting module, used to select the luggage to be moved with the largest size as the current luggage to be moved from the set of luggage to be moved when there are no unfilled levels.

[0015] Furthermore, the second determining unit includes: a fourth determining module, used to determine the empty space and the space above the placed luggage on the layer as the place to be placed when there are layers that are not fully filled on the target loading device; and a fifth determining module, used to determine the space above the placed luggage as the place to be placed when there are no layers that are not fully filled on the target loading device.

[0016] Furthermore, the baggage palletizing device also includes: a first construction module for constructing allocation constraints, wherein the allocation constraints are used to determine that each piece of baggage has a unique placement location, before filtering a set of candidate locations that meet multi-dimensional preset constraints from the set of locations to be placed based on the baggage information of the current baggage to be transported; a second construction module for constructing boundary constraints, wherein the boundary constraints are used to determine that any piece of baggage does not exceed the spatial range of the target loading device; a third construction module for constructing stability constraints, wherein the stability constraints are used to determine that the contact area of ​​baggage on adjacent levels is greater than a preset area threshold; and a fourth construction module for constructing weight constraints, wherein the weight is approximately The first module is used to determine that the weight of the first piece of luggage placed on the upper level is less than the weight of the second piece of luggage adjacent to the first piece of luggage on the lower level; the fifth construction module is used to construct non-overlapping constraints, wherein the non-overlapping constraints are used to determine that the spatial projections of any two pieces of luggage have no intersection; the sixth construction module is used to construct forklift operation constraints, wherein the forklift operation constraints are used to determine that the operating space of the forklift end effector is greater than or equal to a preset space threshold and the placement position of the previous piece of luggage does not obstruct the placement position of the next piece of luggage; the sixth determination module is used to determine multi-dimensional preset constraints based on allocation constraints, boundary constraints, stability constraints, weight constraints, non-overlapping constraints, and forklift operation constraints.

[0017] Furthermore, the second determining unit also includes: a seventh determining module, used to determine a first set of locations satisfying boundary constraints from the set of locations to be placed based on the luggage size and equipment information contained in the luggage information; an eighth determining module, used to determine the luggage contact area formed when the luggage to be transported is placed in the first location for each first location in the first location set, and add the first locations indicated by luggage contact areas greater than a preset area threshold to the second location set; a second judging module, used to judge whether the luggage to be transported satisfies the weight constraint when placed in the second location for each second location in the second location set, and add each second location that satisfies the weight constraint to the third location set; a third judging module, used to judge whether the luggage to be transported satisfies the non-overlap constraint when placed in the third location for each third location in the third location set, and add each third location that satisfies the non-overlap constraint to the fourth location set; and a fourth judging module, used to judge whether the luggage to be transported satisfies the forklift operation constraint when placed in the fourth location for each fourth location in the fourth location set, and add each fourth location that satisfies the forklift operation constraint to the candidate location set.

[0018] Furthermore, the baggage palletizing device also includes: a seventh construction module, used to construct a space utilization variable before determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage already placed on the target loading equipment, and the baggage information of the baggage currently to be moved, wherein the space utilization variable is determined based on the baggage size of all baggage on the loading equipment and the equipment size of the loading equipment; and an eighth construction module, used to construct an objective function based on the space utilization variable, wherein the objective function is used to calculate the score of each candidate location.

[0019] Furthermore, the third determining unit includes: a ninth determining module, used for determining, for each candidate location, the luggage space formed by the current luggage to be transported and all luggage already placed on the target loading device when placed at the candidate location; a tenth determining module, used for determining a first volume of the luggage space; an eleventh determining module, used for determining a second volume of the target loading device based on device information; a twelfth determining module, used for determining the space utilization rate of the candidate location using an objective function based on the first and second volumes; and a thirteenth determining module, used for determining a score for the candidate location based on the space utilization rate.

[0020] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the baggage palletizing method based on a forklift end effector as described above.

[0021] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any of the above-described baggage palletizing methods based on a forklift end effector.

[0022] In this invention, a set of luggage to be moved is obtained, and based on luggage handling selection rules, the current luggage to be moved is determined from the set of luggage to be moved, and a set of places to be placed on the target loading device is determined. Based on the luggage information of the current luggage to be moved, a set of candidate places that meet multi-dimensional preset constraints is filtered from the set of places to be placed. Based on the device information of the target loading device, the luggage information of all luggage already placed on the target loading device, and the luggage information of the current luggage to be moved, a score is determined for each candidate place in the candidate place set, and the candidate place indicated by the highest score is determined as the target place. A forklift-type end effector is used to move the current luggage to be moved to the target place on the target loading device until all luggage to be moved is moved. This solves the technical problem in related technologies that it is impossible to use a forklift-type end effector for automated and efficient palletizing of luggage.

[0023] This invention employs a hybrid heuristic 3D loading optimization framework, utilizing a two-layer decision structure (box-level space allocation and item-level placement planning) to maximize space utilization and ensure loading stability. This achieves efficient palletizing of various types and sizes of airport baggage based on a forklift-type end effector, thus solving the technical problems of traditional palletizing algorithms, such as difficulty in adapting to the operational characteristics of forklift-type end effectors, insufficient baggage loading stability, and low space utilization. Specifically, the process first obtains a set of baggage to be handled, determines the current baggage to be handled according to baggage handling selection rules, then determines a set of placement positions on the target loading equipment, and filters a set of candidate positions that meet preset constraints (such as boundary, stability, weight, non-overlap, and forklift operation constraints) based on the current baggage information. Next, combining equipment information, already placed baggage information, and current baggage information, the comprehensive score of each position in the candidate position set is evaluated, and the position with the highest score is selected as the target position. Finally, the forklift-type end effector is used to move the current baggage to the target position until all baggage is palletized, improving the efficiency and safety of the palletizing operation. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 This is a flowchart of an optional baggage palletizing method based on a forklift end effector according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of an optional baggage palletizing device based on a forklift-type end effector according to an embodiment of the present invention;

[0027] Figure 3 This is a hardware structure block diagram of an electronic device (or mobile device) for a baggage palletizing method based on a forklift end effector according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] It should be noted that all related information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, and displayed data) collected and involved in this invention are information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of this data comply with the relevant laws, regulations, and standards of the relevant regions, have taken necessary security measures, do not violate public order and good morals, and provide corresponding operation entry points for users to choose to authorize or refuse. For example, this system has an interface with relevant users or organizations. Before obtaining relevant information, a request to obtain the information needs to be sent to the aforementioned user or organization through the interface, and the relevant information is obtained only after receiving consent from the aforementioned user or organization.

[0031] This invention relates to the field of automation and robot control technology for air baggage transfer, specifically to a multi-type and multi-size airport baggage palletizing algorithm adapted to forklift end effector operations. It is applicable to intelligent baggage loading on loading vehicles such as trailers, containers, and stackers, and can coordinate with the operating characteristics of forklift end effectors to achieve synergistic optimization of space utilization, loading stability, and operational efficiency.

[0032] This invention addresses the challenges of current palletizing algorithms, such as difficulty adapting to heterogeneous baggage loading, low space utilization, insufficient stability, and forklift operation conflicts. It proposes a multi-type, multi-size airport baggage palletizing algorithm based on a forklift-type end effector. A hybrid heuristic strategy is employed to construct a three-dimensional loading optimization framework. Through a two-layer decision structure (trailer, container, and unit-level space allocation and item-level placement planning), it integrates modules such as data preprocessing, space partitioning, constraint checking, evaluation functions, fill point generation, and data output to establish a differentiated baggage placement rule base. Simultaneously, forklift operation constraints are incorporated (reserving grabbing space and planning collision-free paths). This palletizing algorithm targets the space utilization rate of trailers, containers, and units, ensuring loading stability through multiple constraint checks such as contact area thresholds and weight balance. It improves space utilization, reduces baggage calculation time, and is adaptable to scenarios involving trailers, containers, and units, effectively enhancing the efficiency and safety of automated palletizing using forklift-type end effectors.

[0033] The present invention will now be described in detail with reference to various embodiments.

[0034] Example 1

[0035] According to an embodiment of the present invention, an embodiment of a baggage palletizing method based on a forklift end effector is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] Figure 1 This is a flowchart of an optional baggage palletizing method based on a forklift-type end effector according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0037] Step S101: Obtain the set of luggage to be moved, and determine the current luggage to be moved from the set of luggage to be moved based on the luggage moving selection rules.

[0038] In this embodiment of the invention, the baggage on the airport pick-up platform can be considered as a collection of baggage to be handled. The airport pick-up platform is used to place the baggage to be handled, and the collection is updated in real time as baggage is handled and arrives. Upon obtaining the latest collection of baggage to be handled, the baggage to be handled can be determined from the collection according to baggage handling selection rules. These baggage handling selection rules determine which baggage will be placed first. In practical applications, these selection rules are based on factors such as baggage size and weight to ensure efficient space utilization. For example, placing larger baggage first, followed by smaller baggage, helps avoid wasted space and subsequent adjustments, while ensuring a smooth loading process.

[0039] Step S102: Determine the set of locations to be placed on the target loading vehicle, and based on the luggage information of the luggage to be transported, filter the set of candidate locations that meet the multi-dimensional preset constraints from the set of locations to be placed.

[0040] In this embodiment of the invention, a camera can be used to scan the target loading equipment (such as trailers, containers, or concentrators) to identify all potential locations suitable for placing luggage. Then, based on the characteristics of the luggage to be moved, such as size and weight, a set of candidate locations that meet multi-dimensional preset constraints is further selected from these initial locations. Here, the multi-dimensional preset constraints include, but are not limited to: luggage allocation constraints, boundary restrictions (cannot exceed the size of the loading equipment), stability requirements (ensure sufficient contact surface to maintain balance), weight constraints (ensure heavy items are placed at the bottom), non-overlap principle (prevent collisions between luggage), and forklift operation compatibility (reserving sufficient operating space to avoid hand interference).

[0041] Step S103: Based on the equipment information of the target loading device, the luggage information of all luggage already placed on the target loading device, and the luggage information of the luggage currently to be moved, determine the score of each candidate location in the candidate location set, and determine the candidate location indicated by the highest score as the target location.

[0042] In this embodiment of the invention, not only is the feasibility of placing individual pieces of luggage considered, but the efficiency and safety of the entire loading process also need to be evaluated. By integrating the structural information of the loading equipment, the layout of already placed luggage, and the characteristic data of the current luggage, a comprehensive score is calculated for each candidate location. This score typically includes considerations such as space utilization, ease of forklift and grabbing operations, and loading stability. Finally, the location with the highest score is selected as the target location for luggage placement. In this way, it can be ensured that each piece of luggage can find the most suitable placement point, thereby maximizing the performance indicators of the overall loading solution.

[0043] Step S104: Use a forklift end effector to move the current luggage to be moved to the target position on the target loading device until all luggage to be moved has been moved.

[0044] In this embodiment of the invention, through the actual operation of the forklift-type end effector, baggage is placed one by one to the pre-selected optimal point according to a predetermined order and position. During this process, the forklift avoids collisions with already placed baggage or loading equipment structures based on preset constraints and dynamically generated paths, while ensuring that each step of the operation is executed quickly and accurately. As baggage is successfully stacked piece by piece until all baggage on the airport loading platform has been handled, this automated process greatly improves the efficiency and accuracy of baggage loading, and reduces the probability of errors and labor intensity caused by manual operation.

[0045] In summary, a hybrid heuristic 3D loading optimization framework can be adopted. Through a two-layer decision structure (box-level space allocation and item-level placement planning), the goal of maximizing space utilization and ensuring loading stability is achieved. This enables efficient palletizing of various types and sizes of airport baggage based on forklift-type end effectors, thus solving the technical problems of traditional palletizing algorithms, such as difficulty in adapting to the operating characteristics of forklift-type end effectors, insufficient baggage loading stability, and low space utilization. Specifically, the process first obtains the set of baggage to be handled, determines the current baggage to be handled according to baggage handling selection rules, then determines the set of placement positions on the target loading equipment, and filters the candidate position set that meets preset constraints (such as boundary, stability, weight, non-overlap, and forklift operation constraints) based on the current baggage information. Then, combining equipment information, already placed baggage information, and current baggage information, the comprehensive score of each position in the candidate position set is evaluated, and the position with the highest score is selected as the target position. Finally, the forklift-type end effector is used to move the current baggage to the target position until all baggage is palletized, improving the efficiency and safety of the palletizing operation.

[0046] To improve the accuracy of determining the current baggage to be moved, the baggage palletizing method based on a forklift end effector provided in Embodiment 1 of this application determines the baggage information of each baggage to be moved in the baggage to be moved set, wherein the baggage information includes at least: baggage size; if no baggage is placed on the target loading device, the baggage to be moved with the largest baggage size is determined as the current baggage to be moved based on the baggage information; if baggage is placed on the target loading device, it is determined whether there are any unfilled layers on the target loading device, wherein the layers are formed by the stacking of baggage; if there are unfilled layers, the height of the baggage on the layer is determined, and baggage to be moved with the same height is selected from the baggage to be moved set to obtain a candidate baggage to be moved set; from the candidate baggage to be moved set, the candidate baggage to be moved with the smallest difference between the baggage size and the remaining space size on the layer is selected as the current baggage to be moved; if there are no unfilled layers, the baggage to be moved with the largest baggage size is selected from the baggage to be moved set as the current baggage to be moved.

[0047] In this embodiment of the invention, the luggage information for each piece of luggage to be moved can be determined first. This information includes at least the dimensions of the luggage. Here, the size data is a key factor in determining how the luggage is placed and how the space is allocated. It includes not only the three dimensions of length, width, and height, but also indirectly reflects the volume of the luggage. In addition, the luggage information also includes attributes such as material type (soft / hard) and weight.

[0048] When the target loading device is not yet loaded with any luggage, the largest piece of luggage is prioritized for loading based on its size. This prevents smaller pieces of luggage from failing to fill the space left by the larger pieces, thus improving overall space utilization.

[0049] If luggage is already loaded, check if there are any incomplete layers on the target loading rack. Layers are vertical hierarchical structures formed by stacking luggage, which helps manage space in segments. When an incomplete layer is found, the height of the luggage on that layer (i.e., the height formed after the luggage is placed) is further measured. Then, luggage whose height matches the height of the luggage on that layer is selected from the set of luggage to be moved, forming a candidate set of luggage to be moved. This "height matching" strategy ensures that newly added luggage can be seamlessly integrated into the current layer, avoiding space waste due to height mismatch and stability issues caused by exceeding the layer's range. For the candidate set of luggage to be moved, the difference between the size of each piece of luggage and the remaining space size of the current layer can be calculated, and the luggage with the smallest difference is selected as the luggage to be placed. By matching the precise dimensions of luggage and space, the goal is to achieve the minimum deviation in space occupation, thereby minimizing space waste while ensuring the compactness and stability of the stacking structure. If all levels of the target loading device are full, you can revert to the strategy of selecting the largest piece of luggage as the next item to be placed. This ensures that even when all levels are full, you can continue to optimize the space layout by placing larger pieces of luggage until all luggage is properly arranged.

[0050] In this embodiment, the airport baggage palletizing algorithm based on a forklift-type end effector enables intelligent and dynamic baggage handling and placement planning. It not only considers the physical attributes of the baggage (such as size and weight) but also fully evaluates space utilization, loading stability, and the adaptability of forklift operations. This significantly improves loading efficiency and space utilization without sacrificing safety. Especially when handling diverse baggage sets, it can flexibly respond and make optimal decisions, ensuring that every inch of space is used efficiently. Simultaneously, by reserving gaps for forklift operations and planning conflict-free paths, it ensures smooth operation of the forklift-type end effector, reducing the risk of operational interruptions and baggage damage, making the entire palletizing process both efficient and safe.

[0051] To improve the accuracy of determining the set of places to be placed, in the baggage palletizing method based on a forklift end effector provided in Embodiment 1 of this application, when there are unfilled layers on the target loading device, the empty positions and the positions above the already placed baggage on the layer are determined as places to be placed; when there are no unfilled layers on the target loading device, the positions above the already placed baggage are determined as places to be placed.

[0052] In this embodiment of the invention, the distribution of luggage within the current loading device can be checked first, and the used and remaining space of each level can be calculated. If there is still space on a level that is not occupied by luggage, it is considered that the level is not full. If an incomplete level is detected, the empty positions and unoccupied positions on that level are determined as waiting positions. When all levels are full, the position above the already placed luggage is determined as a waiting position. In this way, the placement of new luggage will be based on the existing luggage stack, forming a new level.

[0053] In this embodiment, by intelligently filling the gaps in unfilled layers and the space above, ineffective vertical space waste is avoided, significantly enhancing space utilization and making loading more efficient and economical. Furthermore, it can dynamically identify and respond to different loading states, quickly locating the most suitable placement position regardless of whether the layers are full, thus improving the flexibility and adaptability of palletizing.

[0054] To improve the accuracy of constructing multi-dimensional preset constraints, in the baggage palletizing method based on a forklift-type end effector provided in Embodiment 1 of this application, before filtering the set of candidate locations that satisfy the multi-dimensional preset constraints from the set of locations to be placed based on the baggage information of the current baggage to be transported, the following constraints are constructed: allocation constraints are constructed, whereby the allocation constraints are used to determine that each piece of baggage has a unique placement location; boundary constraints are constructed, whereby the boundary constraints are used to determine that any piece of baggage does not exceed the spatial range of the target loading device; stability constraints are constructed, whereby the stability constraints are used to determine that the contact area of ​​baggage on adjacent levels is greater than a preset area threshold; weight constraints are constructed, whereby the weight constraints are used to determine that the weight of the first piece of baggage placed on the upper level is less than the weight of the second piece of baggage adjacent to the first piece of baggage on the lower level; non-overlap constraints are constructed, whereby the non-overlap constraints are used to determine that the spatial projections of any two pieces of baggage have no intersection; forklift operation constraints are constructed, whereby the forklift operation constraints are used to determine that the operating space of the forklift-type end effector is greater than or equal to a preset space threshold and the placement location of the previous piece of baggage does not obstruct the placement location of the next piece of baggage; and multi-dimensional preset constraints are determined based on allocation constraints, boundary constraints, stability constraints, weight constraints, non-overlap constraints, and forklift operation constraints.

[0055] In this embodiment of the invention, the allocation constraint is used to assign a unique storage location to each piece of luggage, ensuring that no luggage is placed in two or more locations during the entire palletizing process, thus avoiding location conflicts. A marking system can be set up to track the status of each piece of luggage; once a piece of luggage is placed, its location will be marked as used, and subsequent luggage will be prohibited from occupying the same location. For example, the expression for the allocation constraint is: ,in, Let I represent the location of the i-th piece of luggage, and let I represent the luggage set.

[0056] Boundary constraints ensure that each piece of luggage is strictly within the defined space of the target loading device, preventing luggage from exceeding the boundaries. This can be achieved by setting up a three-dimensional coordinate system based on the dimensions of the loading device, monitoring whether the length, width, height, and coordinate position of each piece of luggage are within the allowed range. For example, the expression for the boundary constraint is:

[0057]

[0058]

[0059] Where L, W, and H represent the length, width, and height of the loading device, respectively. , , Let x, y, y represent the length, width, and height of the j-th piece of luggage, respectively.

[0060] Stability constraints are used to ensure that the contact area between adjacent layers of luggage is greater than a preset area threshold. The preset area threshold (e.g., 80%) means that the bottom layer of luggage must provide sufficient support surface for the upper layer to maintain the stability of the stacking structure. This can be ensured by calculating the contact area ratio between each newly placed piece of luggage and the luggage below it, ensuring that this ratio is not lower than the preset threshold.

[0061] Weight constraints require that the weight of luggage placed on the upper level must be less than the weight of the adjacent luggage on the lower level (i.e., for vertically placed luggage, the weight of luggage on the upper level must be less than that on the lower level), meaning heavier luggage should not be placed on top of lighter luggage. When determining placement, the weight of the current luggage can be checked to ensure it meets the weight requirement of the luggage below it, preventing heavier luggage from crushing lighter luggage or disrupting the balance of the stacking structure.

[0062] The non-overlap constraint avoids physical collisions between luggage by monitoring in real time and ensuring that the spatial projections of any two pieces of luggage do not intersect. Before placing each piece of luggage, it can be checked whether its projection range overlaps with the projection range of already placed luggage. The placement instruction will only be executed if the non-overlap condition is met.

[0063] The forklift operation constraints ensure that the forklift-type end effector has sufficient working space (e.g., gripping gap ≥ 5cm) for gripping actions, and that the placement position meets the hand gripping opening and closing range and load-bearing requirements, avoiding obstruction of the gripping path (i.e., ensuring that the placement of upper-level luggage does not obstruct the gripping path of lower-level luggage). When placing each piece of luggage, it is possible to check whether the working space of the hand gripper meets the preset space threshold, and at the same time check whether the position of the newly placed luggage will prevent the lower-level luggage from being easily accessed by the hand gripper.

[0064] By combining all the above constraints, multi-dimensional preset constraints are constructed to accurately determine whether the baggage placement is appropriate. While ensuring safety and stability, space utilization is maximized, operational conflicts are reduced, and the working efficiency of the forklift end effector is improved. This ensures that the baggage palletizing algorithm can not only achieve efficient baggage loading in theory, but also work perfectly with the forklift end effector in actual operation, demonstrating its important value in the field of automated baggage transportation at airports.

[0065] In this embodiment, a multi-type and multi-size airport baggage palletizing algorithm based on a forklift end effector achieves comprehensive optimization of baggage placement. This includes ensuring that each piece of baggage has a precise placement point, monitoring that baggage does not exceed the physical boundaries of the loading equipment, maintaining the stability and weight balance of the palletizing structure, and avoiding spatial conflicts between baggage and during manual handling operations. This improves the efficiency and safety of baggage handling and palletizing operations.

[0066] To improve the accuracy of selecting candidate location sets that meet multi-dimensional preset constraints, in the baggage palletizing method based on a forklift-type end effector provided in Embodiment 1 of this application, a first location set that meets boundary constraints is determined from the set of locations to be placed based on the baggage size and equipment information contained in the baggage information; for each first location in the first location set, the baggage contact area formed when the current baggage to be transported is placed in the first location is determined, and the first location indicated by the baggage contact area greater than a preset area threshold is added to the second location set; for each second location in the second location set, it is determined whether the current baggage to be transported is placed in the second location and meets the weight constraint, and each second location that meets the weight constraint is added to the third location set; for each third location in the third location set, it is determined whether the current baggage to be transported is placed in the third location and meets the non-overlap constraint, and each third location that meets the non-overlap constraint is added to the fourth location set; for each fourth location in the fourth location set, it is determined whether the current baggage to be transported is placed in the fourth location and meets the forklift operation constraint, and each fourth location that meets the forklift operation constraint is added to the candidate location set.

[0067] In this embodiment of the invention, firstly, based on the size information of each piece of luggage and the geometric parameters of the target loading device, such as length (L), width (W), and height (H), the locations in the set of placement positions are screened, and those locations that would cause the luggage to exceed the boundaries of the loading device are eliminated, forming a first set of locations. For example, this can be achieved by calculating whether all the coordinates of the luggage after placement are within the range of [0,L]x[0,W]x[0,H]. Then, each location in the first set of locations is analyzed, and the contact area between the luggage to be moved and the luggage below it when placed at that location is calculated. If the contact area ratio is greater than a preset area threshold (e.g., 80%), the location is considered to meet the stability constraint and can be added to the second set of locations. Afterward, each location in the second set of locations is analyzed to determine whether the luggage to be moved meets the weight constraint when placed at these locations. That is, it is checked whether there is heavier luggage below the placement location as support. If the weight of the current luggage is less than the weight of the luggage supporting it, then the location is considered to meet the weight constraint and is included in the third set of locations. Next, the positions in the third set of locations are further examined to ensure that the spatial projection of the luggage to be moved does not overlap with the projection of already placed luggage when placed in any location. For example, this is achieved by calculating the coordinates and dimensions of the luggage in three-dimensional space and confirming that the projections of these luggage items on the X and Y planes do not intersect. Finally, each position in the fourth set of locations is carefully checked to ensure that placing luggage will not affect the operating space of the forklift end effector (e.g., reserving a gripping gap of no less than 5cm) and the gripping path (avoiding obstruction by luggage from above or to the side). Only when the hand gripper can perform the gripping action without obstruction when the luggage to be moved is placed in a certain position is the position considered to satisfy the forklift operation constraints and thus added to the candidate position set.

[0068] In this embodiment, potential placement locations that do not meet the preset constraints are effectively eliminated, ultimately establishing a highly refined set of candidate locations. This not only maximizes the space utilization of the target loading equipment but also ensures the stability and safety of the baggage palletizing structure, creating favorable conditions for the automated operation of the forklift-type end effector.

[0069] To improve the accuracy of constructing the objective function, in the baggage palletizing method based on a forklift end effector provided in Embodiment 1 of this application, before determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage already placed on the target loading equipment, and the baggage information of the baggage currently to be moved, a space utilization variable is constructed. The space utilization variable is determined based on the baggage size of all baggage on the loading equipment and the equipment size of the loading equipment. Based on the space utilization variable, an objective function is constructed, which is used to calculate the score of each candidate location.

[0070] In this embodiment of the invention, the size information of all luggage placed on the loading device can be collected and organized, including the length, width, and height of each piece of luggage, as well as the length, width, and height of the loading device itself. Then, based on this information, the currently used space volume and the total available space volume of the loading device are calculated, and a space utilization rate variable is constructed accordingly. :

[0071] ;

[0072] Where L, W, and H represent the length, width, and height of the loading device, respectively. , , Let represent the length, width, and height of the i-th piece of luggage, respectively, and N be the total number of luggage items. Space utilization variable. This reflects the degree to which the space of the loading equipment is effectively utilized.

[0073] Based on the space utilization variable, an objective function is further constructed to calculate the comprehensive score for each candidate location. Here, the objective function considers space utilization as an important factor, while also taking into account the ease of operation of the forklift end effector and the degree to which constraints are met.

[0074] In this embodiment, accurate calculation of candidate position scores is achieved. It not only considers the efficient use of loading equipment space but also integrates the convenience of forklift-type end effector operation and compliance with multiple constraints, ensuring that the placement of each piece of luggage is based on overall optimization principles. This improves the efficiency, space utilization, and safety of luggage palletizing, especially when handling large quantities of multi-sized and multi-type luggage. It significantly reduces operation time, lowers luggage damage rates, and maintains high space utilization, achieving efficient, safe, and intelligent palletizing results.

[0075] To improve the accuracy of the scoring of candidate locations, in the baggage palletizing method based on a forklift end effector provided in Embodiment 1 of this application, for each candidate location, the baggage space formed by the baggage to be transported and all baggage already placed on the target loading device when the baggage is placed at the candidate location is determined; a first volume of the baggage space is determined; a second volume of the target loading device is determined based on device information; the space utilization rate of the candidate location is determined using an objective function based on the first and second volumes; and the score of the candidate location is determined based on the space utilization rate.

[0076] In this embodiment of the invention, for each piece of luggage to be transported, the volume of space occupied by it and already loaded luggage when placed in a candidate location is calculated. By calculating the three-dimensional coordinates of the luggage after placement, as well as the relative position and overlap between the luggage and surrounding luggage, it is ensured that the actual volume occupied by the luggage is calculated, rather than a virtual overlapping volume. Furthermore, the dimensions of the loading equipment can be obtained, and its theoretical maximum volume, i.e., the second volume, can be calculated. This second volume serves as a reference benchmark for evaluating space utilization. Then, an objective function is used to determine the space utilization rate of each candidate location. Subsequently, the space utilization rate of each candidate location is converted into a score. This conversion process can consider the influence of other relevant factors, such as the stability between luggage and the ease of operation of the forklift-type end effector. A higher score indicates better adaptability of the candidate location under comprehensive consideration, and it is more likely to be selected as the final placement location.

[0077] In this embodiment, the performance of the airport baggage palletizing algorithm based on a forklift-type end effector is effectively improved. It not only ensures optimized space utilization after each piece of baggage is placed, but also considers the balance of multiple factors through comprehensive scoring, such as the convenience of forklift operations, cargo safety, and palletizing stability. This improves space utilization while ensuring the safety, efficiency, and sustainability of the palletizing operation.

[0078] The following describes in detail another optional implementation method.

[0079] In this embodiment of the invention, a multi-type and multi-size airport baggage palletizing algorithm based on a forklift end effector is proposed to solve problems such as poor adaptability of forklift end effectors, insufficient stability of mixed baggage loading, low space utilization, and low computational efficiency, thereby realizing automated, efficient, and safe airport baggage palletizing.

[0080] In this embodiment of the invention, the baggage palletizing algorithm consists of the following modules, adapted to the operation process of a forklift-type end effector:

[0081] (1) Data preprocessing module: parse luggage information (size, weight, etc.) and forklift end effector parameters (opening and closing range, load limit, operating radius), filter abnormal data, and standardize the output into a list of tuples.

[0082] (2) Constraint check module: Real-time verification of whether the luggage placement position meets the constraints such as boundary, stability, weight, non-overlap and forklift operation.

[0083] (3) Evaluation function module: Based on space utilization, cross-taking convenience and constraint satisfaction, a comprehensive score is generated as the basis for optimal location selection.

[0084] (4) Fill point generation module: After the current luggage is placed, the next luggage can be dynamically generated by combining the forklift path planning, and fragmented space and path conflict are avoided.

[0085] (5) Data output module: Outputs luggage placement coordinates, size, level and forklift operation guidance information (grabbing point, path), and transmits it to the forklift end effector control system to realize automated luggage handling by the forklift end effector.

[0086] In this embodiment of the invention, the execution steps of the baggage palletizing algorithm are as follows:

[0087] (1) Input trailer parameters, baggage dataset and forklift end effector operation parameters;

[0088] (2) Filter out abnormal data through the data preprocessing module and standardize the information format;

[0089] (3) Generate candidate placement points according to the luggage order, and filter valid points through the constraint check module (including cross-cutting operation adaptability check).

[0090] (4) The valid candidate points are scored by the evaluation function module, and the placement position with the best comprehensive score is selected;

[0091] (5) Place the current luggage, update the remaining space, and generate candidate filling points for the next luggage;

[0092] (6) Repeat steps (3)-(5) until all luggage is loaded or space is saturated, output complete loading plan and forklift operation guidance information to control the forklift end effector to perform palletizing operation.

[0093] It should be noted that this embodiment can be directly applied to airport baggage palletizing, and can also be extended to automated operation scenarios of forklift-type end effectors such as logistics warehousing and express delivery.

[0094] For example, assume the trailer parameters are: length 325cm, width 175cm, height 56cm; luggage parameters are: various sizes (typical: 50cm×34cm×20cm, 58cm×39cm×24cm), both soft and hard types, weight 5-30kg; forklift end effector parameters are: opening range 20-80cm, load limit 50kg, and operating clearance requirement ≥5cm. Online automated loading is simulated by randomly placing luggage on an assembly line. The specific simulation process is as follows:

[0095] Step 1: Data preprocessing.

[0096] Input luggage data (example: luggage (50,34,20,15kg)) and hand gripping parameters, filter out abnormal data, and standardize the storage as a list of (type, length, width, height, weight).

[0097] Step 2: Palletizing execution.

[0098] Remove the first piece of luggage and generate candidate fill points (0,5,0) (reserving time for operation);

[0099] Constraint check: The constraints of boundary, stability (100% contact area), and forklift operation (adaptive opening and closing range, unobstructed path) are met and confirmed to be effective;

[0100] Evaluation function calculation: Space utilization rate increased by 1.02%, cross-access convenience score was 95 points, and the overall score was 97 points, which determined it to be the optimal location;

[0101] Place the luggage at (0,5,0), update the remaining space, and generate candidate points for the next luggage at (0,25,0) and (50,5,0);

[0102] Repeat the above steps until all luggage is loaded.

[0103] Step 3: Output the results.

[0104] The output trailer 1 has a space utilization rate of 71.61%, and provides coordinates, dimensions, and forklift guidance information for placing 20 pieces of luggage. It controls the forklift-type end effector to perform palletizing according to the planned path.

[0105] The above simulation shows that the space utilization rate is stable at 70%-80%, which is better than the traditional method. All luggage satisfies multidimensional constraints, with no overlap, out-of-bounds, or forklift conflicts. Furthermore, it takes 3 seconds to solve for 20 pieces of luggage and 8 seconds for 100 pieces, meeting real-time requirements. At the same time, the forklift-type end effector operates efficiently according to the guidance information, with no path conflicts, and the luggage damage rate is ≤0.1%.

[0106] In this embodiment of the invention, based on the operational characteristics of the forklift-type end effector, operational conflicts are avoided and automated palletizing efficiency is improved by reserving operational space and planning the grasping path. Furthermore, the use of a hybrid heuristic strategy and dynamic space partitioning improves space utilization. Simultaneously, by integrating multi-dimensional constraints, the risk of baggage damage can be effectively reduced. In addition, baggage location can be quickly determined, meeting real-time scheduling requirements.

[0107] The following is a detailed description with reference to another embodiment.

[0108] Example 2

[0109] The luggage palletizing device based on a forklift end effector provided in this embodiment includes multiple implementation units, each of which corresponds to a specific implementation step in Embodiment 1 above.

[0110] Figure 2This is a schematic diagram of an optional baggage palletizing device based on a forklift-type end effector according to an embodiment of the present invention, as shown below. Figure 2 As shown, the luggage palletizing device may include: a first determining unit 20, a second determining unit 21, a third determining unit 22, and a handling unit 23.

[0111] The first determining unit 20 is used to obtain a set of luggage to be moved and, based on the luggage moving selection rules, determine the current luggage to be moved from the set of luggage to be moved.

[0112] The second determining unit 21 is used to determine the set of places to be placed on the target loading vehicle, and based on the luggage information of the luggage to be transported, to filter the set of candidate places that meet the multi-dimensional preset constraints from the set of places to be placed.

[0113] The third determining unit 22 is used to determine the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the luggage information of all luggage placed on the target loading equipment, and the luggage information of the luggage to be moved, and to determine the candidate location indicated by the maximum score as the target location.

[0114] The handling unit 23 is used to move the currently waiting luggage to the target location on the target loading device using a forklift end effector until all the luggage to be moved has been moved.

[0115] The aforementioned baggage palletizing device employs a hybrid heuristic three-dimensional loading optimization framework. Through a two-layer decision structure (box-level space allocation and item-level placement planning), it maximizes space utilization and ensures loading stability. This achieves efficient palletizing of various types and sizes of airport baggage based on a forklift-type end effector, thus solving the technical problems of traditional palletizing algorithms, such as difficulty in adapting to the operational characteristics of forklift-type end effectors, insufficient baggage loading stability, and low space utilization. Specifically, it first acquires the set of baggage to be handled, determines the current baggage to be handled according to baggage handling selection rules, then determines the set of placement positions on the target loading equipment, and filters the candidate position set that meets preset constraints (such as boundary, stability, weight, non-overlap, and forklift operation constraints) based on the current baggage information. Then, combining equipment information, already placed baggage information, and current baggage information, it evaluates the comprehensive score of each position in the candidate position set, selects the position with the highest score as the target position, and finally uses the forklift-type end effector to move the current baggage to the target position until all baggage is palletized, improving the efficiency and safety of the palletizing operation.

[0116] Optionally, the first determining unit includes: a first determining module, used to determine the luggage information of each piece of luggage to be moved in the set of luggage to be moved, wherein the luggage information includes at least: luggage size; a second determining module, used to determine the luggage to be moved with the largest size as the current luggage to be moved based on the luggage information when no luggage is placed on the target loading device; a first judging module, used to judge whether there are unfilled levels on the target loading device when luggage is placed on the target loading device, wherein the levels are formed by the stacking of luggage; a third determining module, used to determine the height of the luggage on the level when there are unfilled levels, and select luggage with the same height from the set of luggage to be moved to obtain a candidate set of luggage to be moved; a first selecting module, used to select the candidate luggage to be moved with the smallest difference between the luggage size and the remaining space size on the level from the candidate set of luggage to be moved as the current luggage to be moved; and a second selecting module, used to select the luggage to be moved with the largest size as the current luggage to be moved from the set of luggage to be moved when there are no unfilled levels.

[0117] Optionally, the second determining unit includes: a fourth determining module, used to determine the empty space and the space above the placed luggage on the layer as the place to be placed when there are layers that are not fully filled on the target loading device; and a fifth determining module, used to determine the space above the placed luggage as the place to be placed when there are no layers that are not fully filled on the target loading device.

[0118] Optionally, the baggage palletizing device further includes: a first construction module for constructing allocation constraints, wherein the allocation constraints are used to determine that each piece of baggage has a unique placement location, before filtering a set of candidate locations that satisfy multi-dimensional preset constraints from the set of locations to be placed based on the baggage information of the current baggage to be moved; a second construction module for constructing boundary constraints, wherein the boundary constraints are used to determine that any piece of baggage does not exceed the spatial range of the target loading device; a third construction module for constructing stability constraints, wherein the stability constraints are used to determine that the contact area of ​​baggage on adjacent levels is greater than a preset area threshold; and a fourth construction module for constructing weight constraints, wherein the weight is approximately The first module is used to determine that the weight of the first piece of luggage placed on the upper level is less than the weight of the second piece of luggage adjacent to the first piece of luggage on the lower level; the fifth construction module is used to construct non-overlapping constraints, wherein the non-overlapping constraints are used to determine that the spatial projections of any two pieces of luggage have no intersection; the sixth construction module is used to construct forklift operation constraints, wherein the forklift operation constraints are used to determine that the operating space of the forklift end effector is greater than or equal to a preset space threshold and the placement position of the previous piece of luggage does not obstruct the placement position of the next piece of luggage; the sixth determination module is used to determine multi-dimensional preset constraints based on allocation constraints, boundary constraints, stability constraints, weight constraints, non-overlapping constraints, and forklift operation constraints.

[0119] Optionally, the second determining unit further includes: a seventh determining module, used to determine a first set of locations satisfying boundary constraints from the set of locations to be placed based on the luggage size and equipment information contained in the luggage information; an eighth determining module, used to determine the luggage contact area formed when the luggage to be transported is placed in the first location for each first location in the first location set, and add the first locations indicated by luggage contact areas greater than a preset area threshold to the second location set; a second judging module, used to judge whether the luggage to be transported satisfies the weight constraint when placed in the second location for each second location in the second location set, and add each second location that satisfies the weight constraint to the third location set; a third judging module, used to judge whether the luggage to be transported satisfies the non-overlap constraint when placed in the third location for each third location in the third location set, and add each third location that satisfies the non-overlap constraint to the fourth location set; and a fourth judging module, used to judge whether the luggage to be transported satisfies the forklift operation constraint when placed in the fourth location for each fourth location in the fourth location set, and add each fourth location that satisfies the forklift operation constraint to the candidate location set.

[0120] Optionally, the baggage palletizing device further includes: a seventh construction module, used to construct a space utilization variable before determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage placed on the target loading equipment, and the baggage information of the baggage currently to be moved; wherein the space utilization variable is determined based on the baggage size of all baggage on the loading equipment and the equipment size of the loading equipment; and an eighth construction module, used to construct an objective function based on the space utilization variable, wherein the objective function is used to calculate the score of each candidate location.

[0121] Optionally, the third determining unit includes: a ninth determining module, used for determining, for each candidate location, the luggage space formed by the current luggage to be transported and all luggage already placed on the target loading device when placed at the candidate location; a tenth determining module, used for determining a first volume of the luggage space; an eleventh determining module, used for determining a second volume of the target loading device based on device information; a twelfth determining module, used for determining the space utilization rate of the candidate location using an objective function based on the first and second volumes; and a thirteenth determining module, used for determining a score for the candidate location based on the space utilization rate.

[0122] The aforementioned baggage palletizing device may also include a processor and a memory. The first determining unit 20, the second determining unit 21, the third determining unit 22, the handling unit 23, etc., are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0123] The processor mentioned above contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and by adjusting the kernel parameters, a fork-type end effector is used to move the currently awaiting baggage to the target location on the target loading device until all baggage has been moved.

[0124] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0125] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: obtaining a set of luggage to be moved, and determining the current luggage to be moved from the set of luggage to be moved based on luggage moving selection rules, determining a set of placement positions on a target loading device, and filtering a set of candidate positions that meet multi-dimensional preset constraints from the set of placement positions based on the luggage information of the current luggage to be moved, determining the score of each candidate position in the candidate position set based on the device information of the target loading device, the luggage information of all luggage already placed on the target loading device, and the luggage information of the current luggage to be moved, and determining the candidate position indicated by the maximum score as the target position, and using a forklift-type end effector to move the current luggage to be moved to the target position on the target loading device until all luggage to be moved has been moved.

[0126] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the baggage palletizing method based on a forklift end effector as described above.

[0127] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the above-described baggage palletizing method based on a forklift end effector.

[0128] Figure 3 This is a hardware structure block diagram of an electronic device (or mobile device) for a baggage palletizing method based on a forklift-type end effector according to an embodiment of the present invention. Figure 3 As shown, an electronic device may include one or more processors (e.g., Figure 3The processors 302a, 302b, ..., 302n, etc., may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), and a memory 304 for storing data. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports in the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 3 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include... Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown.

[0129] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0130] The embodiments or examples disclosed herein are not exhaustive, but merely illustrative of some embodiments or examples, and are not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment or example can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment or example can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment or example can be arbitrarily interchanged. Furthermore, optional methods or examples in a particular embodiment or example can be arbitrarily combined; moreover, embodiments or examples can be arbitrarily combined. For example, some or all steps of different embodiments or examples can be arbitrarily combined, and a particular embodiment or example can be arbitrarily combined with optional methods or examples of other embodiments or examples.

[0131] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0132] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0133] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0134] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0135] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0136] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A baggage palletizing method based on a forklift-type end effector, characterized in that, include: Obtain a set of luggage to be moved, and determine the current luggage to be moved from the set of luggage to be moved based on the luggage moving selection rules; Determine the set of locations to be placed on the target loading vehicle, and based on the luggage information of the luggage to be transported, filter the set of candidate locations that meet the multi-dimensional preset constraints from the set of locations to be placed; Based on the equipment information of the target loading device, the baggage information of all baggage already placed on the target loading device, and the baggage information of the baggage currently to be moved, a score is determined for each candidate location in the candidate location set, and the candidate location with the highest score is determined as the target location; A forklift-type end effector is used to move the currently awaiting baggage to the target location on the target loading device until all the baggage awaiting transport has been moved.

2. The baggage palletizing method according to claim 1, characterized in that, The steps for determining the current baggage to be moved from the set of baggage to be moved based on the baggage handling selection rules include: Determine the baggage information for each piece of baggage to be moved in the set of baggage to be moved, wherein the baggage information includes at least: baggage size; If no luggage is placed on the target loading vehicle, the luggage with the largest size to be moved is determined as the current luggage to be moved based on the luggage information; If luggage has already been placed on the target loading device, determine whether there are any unfilled levels on the target loading device, wherein the levels are formed by the stacking of luggage; If there are unfilled levels, determine the height of the luggage located on the level, and select luggage of the same height from the set of luggage to be moved to obtain a candidate set of luggage to be moved; Select the candidate baggage to be moved from the set of candidate baggage to be moved, which has the smallest difference between the baggage size and the remaining space size at the level, as the current baggage to be moved; If there are no unfilled levels, select the largest piece of luggage from the set of luggage to be moved as the current luggage to be moved.

3. The baggage palletizing method according to claim 1, characterized in that, The steps for determining the set of placement locations on the target loading vehicle include: If there are unfilled levels on the target loading device, the empty space and the space above the already placed luggage on the level are determined as the places to be placed. If there are no unfilled levels on the target loading device, the position above the already placed luggage is determined as the placement position.

4. The baggage palletizing method according to claim 1, characterized in that, Before filtering the set of candidate locations that meet multi-dimensional preset constraints from the set of locations to be placed based on the luggage information of the current luggage to be moved, the process also includes: Construct allocation constraints, wherein the allocation constraints are used to determine that each piece of luggage has a unique placement location; Construct boundary constraints, wherein the boundary constraints are used to determine that no piece of luggage exceeds the spatial range of the target loading device; Construct stability constraints, wherein the stability constraints are used to determine that the contact area of ​​luggage on adjacent levels is greater than a preset area threshold; Construct a weight constraint, wherein the weight constraint is used to determine that the weight of the first piece of luggage placed at the upper level is less than the weight of the second piece of luggage adjacent to the first piece of luggage at the lower level; Construct a non-overlapping constraint, wherein the non-overlapping constraint is used to determine that the spatial projections of any two pieces of luggage do not intersect; Construct a forklift operation constraint, wherein the forklift operation constraint is used to determine that the working space of the forklift end effector is greater than or equal to a preset space threshold and the placement position of the previous baggage does not obstruct the placement position of the next baggage; The multidimensional preset constraints are determined based on the allocation constraints, the boundary constraints, the stability constraints, the weight constraints, the non-overlapping constraints, and the fork operation constraints.

5. The baggage palletizing method according to claim 4, characterized in that, Based on the luggage information of the current luggage to be moved, the step of filtering a set of candidate locations that meet multi-dimensional preset constraints from the set of locations to be placed includes: Based on the luggage size and equipment information contained in the luggage information, a first set of locations that satisfy the boundary constraints is determined from the set of locations to be placed. For each first location in the first location set, determine the luggage contact area formed when the current luggage to be moved is placed in the first location, and add the first location indicated by the luggage contact area that is greater than the preset area threshold to the second location set; For each second location in the second location set, determine whether the weight constraint is satisfied when the current luggage to be moved is placed in the second location, and add each second location that satisfies the weight constraint to the third location set; For each third location in the third location set, determine whether the non-overlapping constraint is satisfied when the current luggage to be moved is placed in the third location, and add each third location that satisfies the non-overlapping constraint to the fourth location set; For each fourth position in the set of fourth positions, determine whether the current luggage to be moved satisfies the forklift operation constraint when placed in the fourth position, and add each fourth position that satisfies the forklift operation constraint to the set of candidate positions.

6. The baggage palletizing method according to claim 1, characterized in that, Before determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage already placed on the target loading equipment, and the baggage information of the currently awaiting transport baggage, the method further includes: Construct a space utilization variable, wherein the space utilization variable is determined based on the luggage size of all luggage on the loading vehicle and the size of the loading vehicle; Based on the space utilization variable, an objective function is constructed, wherein the objective function is used to calculate the score for each of the candidate locations.

7. The baggage palletizing method according to claim 6, characterized in that, The step of determining the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the baggage information of all baggage already placed on the target loading equipment, and the baggage information of the baggage currently to be transported includes: For each candidate location, determine the luggage space formed by the current luggage to be moved when it is placed at the candidate location and all luggage already placed on the target loading vehicle; Determine the first volume of the luggage space; Based on the equipment information, determine the second volume of the target loading equipment; Based on the first volume and the second volume, the space utilization rate of the candidate location is determined using the objective function; The score of the candidate location is determined based on the space utilization rate.

8. A baggage palletizing device based on a forklift-type end effector, characterized in that, include: The first determining unit is used to acquire a set of luggage to be moved, and to determine the current luggage to be moved from the set of luggage to be moved based on the luggage moving selection rules; The second determining unit is used to determine the set of places to be placed on the target loading vehicle, and based on the luggage information of the luggage to be transported, to filter the set of candidate places that meet the multi-dimensional preset constraints from the set of places to be placed. The third determining unit is used to determine the score of each candidate location in the candidate location set based on the equipment information of the target loading equipment, the luggage information of all luggage placed on the target loading equipment, and the luggage information of the luggage currently to be transported, and to determine the candidate location indicated by the maximum score as the target location; The transport unit is used to transport the currently transportable baggage to the target location on the target loading device using a forklift end effector until all the baggage to be transported has been transported.

9. A computer program product, characterized in that, The method includes a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the baggage palletizing method based on a forklift end effector as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes one or more processors and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the baggage palletizing method based on a forklift end effector as described in any one of claims 1 to 7.

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