WO2019169643A1 - 行李运输方法、运输系统、机器人、终端设备及存储介质 - Google Patents

行李运输方法、运输系统、机器人、终端设备及存储介质 Download PDF

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Publication number
WO2019169643A1
WO2019169643A1 PCT/CN2018/078641 CN2018078641W WO2019169643A1 WO 2019169643 A1 WO2019169643 A1 WO 2019169643A1 CN 2018078641 W CN2018078641 W CN 2018078641W WO 2019169643 A1 WO2019169643 A1 WO 2019169643A1
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WIPO (PCT)
Prior art keywords
baggage
information
target
passenger
robot
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PCT/CN2018/078641
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English (en)
French (fr)
Inventor
张�浩
邓耀桓
张逸弛
Original Assignee
深圳蓝胖子机器人有限公司
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Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to PCT/CN2018/078641 priority Critical patent/WO2019169643A1/zh
Priority to CN201880090853.5A priority patent/CN114041096A/zh
Publication of WO2019169643A1 publication Critical patent/WO2019169643A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present application relates to the field of airport automation, and in particular to a method of transporting luggage, a transport system, a robot, a terminal device and a storage medium.
  • the technical problem mainly solved by the present application is to provide a baggage transportation method, system, terminal and storage medium. Can improve the efficiency of airport baggage check.
  • a technical solution adopted by the present application is to provide a method for baggage transportation, the method comprising:
  • the control target robot transports the bag from the starting position to the target position.
  • Another technical solution adopted by the present application is to provide a method for baggage transportation, the method comprising:
  • the bag is transported from the starting position to the target position based on the control command.
  • Another technical solution adopted by the present application is to provide a method for baggage transportation, the method comprising:
  • the bag is placed to the target robot to be transported by the target robot from the current initial position of the target robot to the target position.
  • the present application also provides a transportation system, the system comprising: a processing unit, an information acquisition unit and a target robot coupled to the processing unit; wherein the information acquisition unit is used to obtain baggage information and/or passenger information
  • the processing unit is configured to acquire the baggage information and/or passenger information, and use the baggage information and/or the passenger information to confirm a starting position and a target position of the baggage; the target robot is used according to the The baggage information and/or the passenger information is transported from the starting location to the target location.
  • the present application also provides a robot, the robot comprising: a processor, a memory and an interface circuit respectively coupled to the processor; wherein the processor is based on calling a computer program in the memory and calling the interface circuit , perform any of the above methods.
  • the application also provides a terminal device, the terminal device comprising: a processor, a memory, and a computer program stored on the storage, the processor coupling the memory, the processor executing the A computer program to implement the method as described above.
  • the present application also provides a storage medium storing program data, which when executed, implements any of the above-described technical solutions.
  • the present application adopts the above scheme to obtain the baggage information and/or the passenger information, confirm the starting position and the target position of the baggage according to the acquired baggage information and/or the passenger information, and complete the transportation of the baggage by the target robot. It has better realized the efficient transportation of baggage, reduced the investment of the airport in human resources, and provided passengers with a process of baggage consignment and baggage collection for checked baggage.
  • FIG. 1 is a schematic flow chart of an embodiment of a method for transporting baggage according to the present application
  • FIG. 2 is a schematic flow chart of another embodiment of a method for transporting baggage according to the present application.
  • FIG. 3 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 4 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 5 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 6 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 7 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 8 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 9 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 10 is a schematic flow chart of still another embodiment of a method for transporting baggage according to the present application.
  • FIG. 11 is a schematic flow chart of an embodiment of a method for transporting baggage according to the present application.
  • FIG. 12 is a schematic flow chart of another embodiment of a method for transporting baggage according to the present application.
  • FIG. 13 is a schematic flow chart of an embodiment of a method for transporting baggage according to the present application.
  • FIG. 14 is a schematic structural view of an embodiment of a transportation system of the present application.
  • Figure 15 is a schematic structural view of another embodiment of the transportation system of the present application.
  • 16 is a schematic structural diagram of an embodiment of a target robot of the present application.
  • FIG. 17 is a schematic structural diagram of an embodiment of a terminal device according to the present application.
  • FIG. 18 is a schematic structural diagram of another embodiment of a terminal device of the present application.
  • FIG. 19 is a schematic structural diagram of an embodiment of a storage medium of the present application.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • the transportation system 100 includes a processing unit 101, an information acquisition unit 102 and a target robot 103 that are in communication with the processing unit 101.
  • the information obtaining unit 102 is configured to obtain baggage information and/or passenger information.
  • the processing unit 101 acquires the baggage information and/or the passenger information, and uses the baggage information and/or the passenger information to confirm the starting position and the target position of the baggage, wherein one of the starting position and the target position is a baggage storage position, and the other is baggage. Extract the location.
  • the target robot 103 is used to transport the baggage from the starting position to the target position after the control command of the processing unit 101.
  • FIG. 1 is a schematic flowchart of a method for transporting baggage according to the present application.
  • the method of baggage transportation is applied to the transportation system 100 provided by the embodiment of the present application, and the processing unit 101 is configured to perform steps S10 to S30.
  • step S10 includes different contents in different embodiments because different passengers or passengers have different baggage transportation needs in different scenarios.
  • the specific step S10 may be the acquisition of the baggage information and the passenger information, or may be any of the baggage information and the passenger information, that is, the setting step S10 only acquires the baggage information, or sets only the passenger information.
  • the different embodiments of step S10 are fully explained below.
  • step S10 when the passenger needs to check in the baggage when entering the airport, step S10 specifically includes steps S11 to S13.
  • the passenger information may include the identity information of the passenger, such as an identification number, a passport number, or the like, or biometrics (such as fingerprints, faces, voice prints, irises, etc.), and flight information, such as flight numbers.
  • the baggage information may include the identification of the baggage, and may also include one or more of the number, color, weight, size, and the like of the baggage. Specifically, the content of the obtained passenger information and the baggage information is not limited herein, that is, the contents of the passenger information and the baggage information may be set according to actual needs.
  • the processing unit 101 acquires the baggage information and the passenger information according to the information acquiring unit 102.
  • the information acquiring unit 102 may be an identification device, or may provide manual input for an input device such as a keyboard, a touch screen, or the like.
  • the information acquisition unit 102 is communicatively coupled to the processing unit 101 of the transportation system, and the processing unit 101 acquires the bag information and the passenger information.
  • the information acquiring unit 102 may be disposed at a processing terminal of the consignment counter, a self-service terminal, a mobile terminal, or the like, and may be an external device or a terminal device.
  • the identification device may be a visual sensor for obtaining a baggage image, thereby obtaining baggage information, and may also be used for obtaining an image of an ID card, a passport, a face, a boarding pass, etc., thereby obtaining passenger information; and may also be a scanning code device. a bar code or a two-dimensional code for identifying a boarding pass to obtain passenger information, and may also be used to identify a bar code or a two-dimensional code of the baggage tag to obtain baggage information; and may also be a combination of various methods, for example, the identification device passes Identification of the ID card, face, etc.
  • the identification device is a scanning device, scanning the boarding pass to obtain passenger information, and passing the weight measuring device connected to the terminal device, the target robot acquiring the baggage or the baggage holding The acquired robot measures the weight of the baggage, and the visual sensor identifies other baggage information such as the size of the baggage.
  • S12 Establish and save an association relationship between the baggage information and the passenger information.
  • the association relationship between the baggage information and the passenger information is established and saved.
  • the passenger collects the baggage even if only one of the passenger information or the baggage information is obtained, the other information can be obtained through one type of information according to the relationship, and various operations required by the system are provided.
  • the output includes part or all of the baggage information, and is used for printing to generate a baggage identification tag.
  • the processing unit 101 may also output the baggage information so that the baggage identification tag may be generated by printing part or all of the baggage information.
  • the baggage information to be printed is preset according to actual needs.
  • the printed baggage information may be all the baggage information printed, or the baggage information of the printed part.
  • the printed baggage identification tag can be attached to the corresponding baggage to distinguish the baggage of different passengers and provide identification for the baggage. It can be understood that the printing of the baggage identification tag can be completed by the system, for example, can be performed by a robot, or can be done by an external printing device, and is not limited herein.
  • step S13 may be omitted.
  • the system tracks all the paths and locations of the baggage to uniquely identify the baggage.
  • the passenger information when the passenger arrives at the destination and collects the baggage, only at least one of the passenger information and the baggage information needs to be acquired, and the baggage of the passenger can be directly or indirectly obtained.
  • the passenger information is obtained by scanning the passenger boarding pass, the certificate, etc., or by identifying the face, fingerprint, etc., and then obtaining the baggage information associated with the current passenger information through the obtained passenger information.
  • the corresponding passenger information is obtained, and the passenger information may include the location information of the passenger, the contact information, and the location information of the baggage claim.
  • the method further includes:
  • S20 Confirm the starting position and the target position of the baggage by using the baggage information and/or the passenger information.
  • the baggage storage position is set to be a nacelle or a transfer station to the nacelle according to actual needs, that is, the transfer station of the nacelle is a non-cabin space, a gathering area of the baggage; the baggage picking position refers to the baggage picking up when starting the transport.
  • the starting point in different settings, can be the location of the passenger, or the transit point that the passenger can reach, such as the pick-up counter or the check-in counter, for picking up or checking the baggage area.
  • the baggage information also includes the baggage extraction location when the baggage is checked, the baggage storage location, the baggage extraction location when the baggage is picked up, and the baggage storage location.
  • the information can be directly saved to the baggage information according to the flight information, or can be saved according to the dynamic real-time update of the flight.
  • step 10 may be step S14 in the example: acquiring baggage information.
  • step 20 may be step S21 in the example: obtaining the baggage extraction location and the baggage storage location from the acquired baggage information, corresponding to the starting position of the baggage and the target position of the baggage.
  • the "correspondence" includes an equivalent or associated correspondence.
  • the starting position of the baggage may be the location of the self-service terminal device where the baggage is checked, or may be the position of a fixed processing area preset.
  • the target position of the baggage and the starting position are confirmed based on the baggage information and/or the passenger information.
  • the starting position can correspond to the baggage storage location where the current flight is placed.
  • the above step S10 may be S15: acquiring passenger information.
  • Step S20 may be S22: obtaining the passenger location according to the passenger information as the baggage extraction location, and confirming the baggage storage location according to the flight information in the passenger information.
  • the baggage storage location at the arrival of the baggage can be obtained, that is, the starting position and the target position of the baggage, that is, the baggage picking location of the baggage. Further, the baggage information can be provided to the passenger so that the passenger arrives at the target location of the baggage for collection. Or, when the baggage is collected, the system obtains the passenger information of the baggage according to the baggage information, such as the location information of the passenger and the location information of the baggage set by the passenger, so as to obtain the location of the baggage claim by the passenger to confirm the target location.
  • the control target robot transports the baggage from the starting position to the target position.
  • the target robot refers to receiving the control command and can complete the transportation of the baggage from the starting position of the baggage to the target position.
  • the control command may include baggage information such that the target robot acquires the baggage based on the baggage information arriving at the starting position of the baggage and transports the bag to the target location.
  • the target robot can navigate autonomously according to the starting position and the target position of the baggage information.
  • the control instruction may include a transportation route planned by the system from the starting position to the target position, and the transportation route may be a motion path or a motion track from the starting position to the target position, or a preset route number, providing a target.
  • the robot performs transportation accordingly.
  • the control command may also be a startup rule of the target robot that has been set by the system 100.
  • the target robot initiates the transportation upon detecting the acquisition of the baggage.
  • the motion path or motion trajectory of the target robot for transportation may be known, or the target robot is provided with sensing means for sensing the baggage and obtaining the baggage information, thereby independently planning the transportation path or trajectory. It can be understood that, in different application scenarios, the target robot acquires the baggage from which position, or the baggage is obtained according to the preset parameter data, and is not limited herein.
  • the above baggage transportation method and the transportation system using the method obtain the required baggage information and/or passenger information, and further obtain the baggage starting position and the target position by using the acquired information, so that the target robot can take the baggage from the baggage.
  • the transportation from the initial position to the target location improves the efficiency of the checked baggage and baggage collection at the airport, and also saves the labor cost of the airport.
  • the transportation system 100 may further include application software loaded on the terminal device.
  • the passenger triggers the checked baggage instruction through the client by enabling the client.
  • the processing unit 101 acquires passenger information, including location information of the passenger, according to the checked baggage instruction.
  • the target robot is called to arrive at the passenger position according to the position information of the passenger. Since the passenger needs to carry out the consignment, the current location of the baggage is the same position as the position of the passenger, so the obtained passenger position is taken as the baggage extraction position.
  • the baggage extraction location may be one of a plurality of available consignment locations provided by the system 100, and the selected extraction location may be saved in the passenger information.
  • the baggage storage location is confirmed by the flight information in the passenger information, and may be the cargo hold in which the flight of the passenger is located.
  • the target robot completes the transport of the bag from the starting position to the target position.
  • the application software can be installed on the self-sustaining terminal device of the passenger, and can become the foregoing terminal device, and the self-sustaining terminal device has a positioning function. Then, the passenger triggers the checked baggage instruction or the baggage claim through the application software, and the application software calls the positioning function of the self-sustaining terminal device to obtain the positioning information, and sends the positioning information as the customer information to the processing unit 101. Then, the system 100 uses the location information of the passenger information, that is, the passenger location information, as the baggage extraction location, and can satisfy the real-time tracking and positioning. Confirm the baggage storage location based on the flight information in the passenger information.
  • the transportation plan of the baggage may include steps S16 to S33.
  • S17 Establish and save an association relationship between the baggage information and the passenger information.
  • the output includes part or all of the baggage information, and is used for printing to generate a baggage identification tag.
  • the identification tag may be a barcode, a two-dimensional code, or the like, or may be a text or other specific identifier.
  • steps S16, S17 and step S18 please refer to the description of the embodiment corresponding to FIG. 2, which will not be described in detail herein.
  • the baggage identification tag can be attached to the corresponding baggage by the target machine or by the holding robot.
  • the location of the terminal device used by the passenger in the passenger information is the current location of the passenger, and the location information is obtained as the baggage claim location, and the baggage information includes the flight that the baggage should be checked. Based on this, the storage location of the baggage is determined.
  • the baggage information in the passenger information can be further confirmed according to the flight information in the passenger information, and the baggage is temporarily placed after the aircraft arrives at the current airport.
  • the location for baggage claim for example, the outlet or area for baggage claim.
  • the position of the temporary release may be a position for the robot to acquire the baggage, and the path from the current starting position to the target position after the baggage is obtained may be planned according to the target position corresponding to the position of the passenger, and the autonomous navigation is performed. , transport the baggage to the passenger corresponding to the baggage.
  • S33 Control the target robot to transport the baggage from the starting position to the target position.
  • the target robot After confirming the baggage collection location and the baggage storage location, the target robot is further controlled to transport the baggage from the starting position to the target position.
  • the step of obtaining a passenger location from the passenger information further includes:
  • the passenger When the passenger is handling the checked baggage or the baggage claim service at a self-service terminal set at a specific location of the airport, the passenger is further confirmed according to the number or location information of the current terminal device included in the acquired passenger information. position. Since the device is fixed, the location information of the passenger acquired at this time is fixed passenger location information.
  • the step of obtaining a passenger location from the passenger information includes:
  • S25 Track the passenger according to the passenger information to obtain the passenger location.
  • the passenger When the passenger is moving in real time in the preset area of the airport, the passenger will be further tracked according to the passenger information to obtain the passenger position. According to the user ID included in the passenger information, or the ID of the terminal device (which may be a mobile phone and a tablet computer, etc., which is not limited herein), or the location information of the terminal device. To track passengers and achieve passenger location. After tracking the location of the passenger, the location is taken as the baggage extraction location. If the information of the passenger is changed in real time at this time, the real-time tracking may be further performed or the passenger may be further inquired, and the passenger may be prompted to input or select the extracted location of the baggage, and the flight information in the passenger information is performed at the same time, before or after the above operation. Confirm the baggage storage location.
  • the location of the passenger is tracked according to the passenger information, and the passenger information includes the identity number of the terminal device of the passenger, or is used by the client (application software) operated by the terminal.
  • the client invokes the location function of the terminal device and reports it to the system, and the processing unit 101 acquires the passenger information. Therefore, it is possible to track the location of the passenger based on the passenger information. It can be understood that the tracking positioning can better help the passenger to complete the checked baggage or collect the baggage efficiently. Compared with the prior art, the passenger is required to go to a specific location to wait for the manual check-in, which saves time.
  • controlling the target robot to transport the baggage from the starting position to the target position comprises: sending a control instruction to the target robot, the control command is used to notify the target robot to transport the baggage from the starting position to the target position, and the control instruction includes the baggage.
  • the control command includes the starting position and the target position of the baggage.
  • the system will randomly assign tasks to the target robots, or it may be assigned to the target robots according to certain rules. It should be noted that, in order to facilitate management, the target robots in the current transportation system are numbered in advance, and each target robot may have a unique number, which may be displayed on the robot to provide system identification.
  • the system or the robot itself may store the association relationship between the unique machine code and the number of each robot, and obtain the corresponding number through system acquisition or robot reporting. In this mode, the number can be flexibly adjusted and allocated.
  • the system randomly assigns tasks to the target robots that are not performing the task. Further, it can also be combined with the position of the robot to determine the distance from the task to be assigned, and/or the order of the numbers. Carry out the assignment of baggage transportation tasks.
  • the control instruction further includes: a starting attitude of the baggage, a target posture, identification information, and a position and/or posture of the target robot for holding the baggage, a placement position and/or a posture of the target robot for placing the baggage.
  • the initial posture of the baggage is the current posture of the baggage calculated by the processing device;
  • the target posture refers to the posture that is placed when the baggage is transported to the target position (if the baggage is transported to the target position, the handlebars are outwardly Or it is placed towards the passenger).
  • the identification information refers to information that can uniquely identify the baggage, and may be an identification tag of the baggage, or other parameters or information for identifying the baggage.
  • the position and/or posture of the target robot for holding the baggage refers to the position and/or posture of the target bag obtained by the transport system or processed by the target robot.
  • the position/orientation of the target robot for placing the baggage refers to the baggage start position/attitude obtained from the identification device or the baggage information in the transportation system, and the target position/attitude corresponding calculation or processing is used by the robot to obtain the baggage.
  • Hold position/pose used to place the position/pose of the baggage. It can be understood that the content specifically included in the control instruction can be adjusted and set according to actual needs, and is not limited herein.
  • the position/orientation of the target robot for holding the baggage and the placement position/attitude for placing the baggage can be self-planned by the robot according to the position/attitude of the baggage.
  • the target robot has a processor, and a computer program storing the holding and placing algorithms, so that the processor can be called and executed, and the holding and placing tasks are completed independently.
  • step S30 before controlling the target robot to transport the baggage from the starting position to the target position, further comprises: controlling the acquiring robot to place the baggage on the target robot.
  • the target robot is responsible for transporting the baggage to the target location, and may be a mobile robot having only a baggage carrying mechanism, for example, including a carrying mechanism and a moving chassis. Further, the robot can be added, and it can be an operation robot having a robot arm and an end effector for performing the baggage and placing it on the target robot. In other embodiments, the target robot may be a mobile robot having a baggage handling mechanism, and integrates a robot arm and an end effector to have operational capabilities.
  • the target robot can independently complete the identification of the target baggage, and obtain the baggage information including the posture of the baggage. And by executing a computer program integrated with the above-mentioned baggage transportation method in the memory by the processor, the position and execution of the baggage held and placed, and the planning of the transportation path can be planned autonomously.
  • a computer program integrated with the above-mentioned baggage transportation method in the memory by the processor the position and execution of the baggage held and placed, and the planning of the transportation path can be planned autonomously.
  • FIG. 8 a schematic flowchart of a method for transporting baggage according to the present application is shown.
  • the method can be applied to an embodiment in which the transportation system 100 includes an auxiliary baggage device 104 ( FIG. 15 ).
  • the device 104 is illustrated by an example of a robot.
  • the process of controlling the target robot to transport the baggage from the starting position to the target position in step S30 can be seen in the example of FIG.
  • This embodiment includes performing steps S34, S35.
  • the controlled robot is further controlled to place the corresponding baggage on the target robot.
  • the set-up robot is set to be controlled by the processing unit 101 in the transport system.
  • the acquiring robot may be directly controlled by the processing unit in the control system, or may be indirectly controlled by the processing unit in the transportation system.
  • the acquiring robot is directly controlled by the target robot, that is, the acquiring robot and the target robot.
  • the processing unit of the system is in communication connection, the control includes receiving an instruction for obtaining the baggage, or integrating the initial setting of the system, and specifically does not limit the holding robot in other embodiments. Controlled party.
  • S35 Send a control instruction to the target robot, and the control instruction is used to notify the target robot to transport the baggage to the target position.
  • the acquiring robot After the acquiring robot obtains the corresponding baggage according to the preset requirement and places the baggage on the target robot, it sends a control command to the target robot, and the control command is used to notify the target robot to transport the baggage to the target position.
  • the processing unit is notified correspondingly, and the baggage is completed. The action can start the transport. It should be noted that since the shape and volume of the baggage that the airport needs to check or collect are different, it is necessary to adjust the position of the baggage or the position of the baggage according to the parameters of the baggage, so as to ensure the safe and secure completion of the baggage transportation. .
  • step S35 may not be included.
  • the target robot has a sensing device that initiates transportation when it is perceived that an object is placed, that is, the target robot determines that the bag has been acquired.
  • the sensing device may be a pressure sensor, a tactile sensor, etc., when the baggage is placed on the target robot, so that the pressure sensor or the tactile sensor acquires a sensing data, and when the sensing data meets the set condition, it is determined that the baggage has been acquired.
  • the target robot performs a transportation task
  • the system may notify the target robot of the target position of the baggage currently acquired by the target robot, or allocate the baggage acquired by the target robot and the target position.
  • the target robot has identification means for identifying the baggage, thereby acquiring baggage information of the baggage, including the target location; or acquiring the target location of the baggage from the system according to the baggage information.
  • the baggage transportation method includes the following steps:
  • the request instruction includes a checked baggage instruction or a baggage claim.
  • the request instruction may be that the passenger uses a self-sustaining terminal device such as a mobile phone or a tablet, or may be a self-service terminal device set at a certain location of the airport, and triggers the request instruction.
  • the passenger information may be a client that enables the connection system 100 in the terminal device, invokes a camera, enables face recognition, or invokes a fingerprint acquisition module of the terminal device, starts fingerprint recognition, or obtains passenger information by inputting personal information by the passenger. .
  • the baggage information can be passed, the camera is called to obtain an image of the baggage, and the baggage information is identified.
  • the baggage information and the passenger information obtained by the client are obtained by the processing unit 101 of the client of the communication connection system 100. It can be understood that the baggage image, the face image, and the fingerprint data obtained by the client may be generated locally by the client to generate baggage information and passenger information, or may be sent to the processing unit 101 for the original data acquired by the client, by the processing unit. 101 processing obtains baggage information and passenger information.
  • the passenger information may further include passenger location information.
  • S3 The baggage information and/or passenger information is used to confirm the starting position and the target position of the baggage.
  • the passenger location information may be used as a starting location, so that the target robot actively goes to the passenger location to obtain the baggage.
  • the passenger location information can be used as the target location, so that the target robot actively carries the luggage to the passenger. There is no need for passengers to go to a specific counter to check in, or to wait in the baggage claim area, which can effectively avoid people's congestion, and wait in line for processing and receiving problems that are time-consuming.
  • S4 Control the target robot to transport the baggage from the starting position to the target position.
  • FIG. 10 is a schematic flowchart of a method for transporting baggage according to an embodiment of the present application.
  • the baggage transportation method described above may further include steps S301 to S303.
  • S301 Acquire transportation data from the target robot.
  • the processing unit 101 may further acquire the transportation data generated by the target robot, and the transportation data includes the movement path, the movement track, the weight of the baggage, the time of transporting the baggage, the speed of the baggage of the target robot, and the actual transportation of the baggage.
  • Other items include abnormal events such as whether the bag has been dropped, and may include events such as congestion and malfunction. It can be understood that the content included in the data to be transported can be adjusted according to actual needs, and is not limited herein.
  • the transport data is generated by the processor on the target robot in cooperation with other devices.
  • S302 Generate transportation feedback information according to the transportation data.
  • the processing unit 101 generates transportation feedback information based on the acquired transportation data from the target robot. That is, the data in the process of transporting the baggage recorded by the target robot is selected, and feedback information is generated. It can be understood that the generated feedback information does not have to include all the transportation data, and may only include data that the passenger pays attention to, such as the time when the baggage is transported to the target location, the target position of the baggage, and the like. The content contained in the feedback information can be adjusted according to actual needs.
  • the generated feedback information is further sent to the passenger in a preset form.
  • the form in which the feedback information is sent to the passenger is not particularly limited herein.
  • the transportation feedback information composed of the target position of the baggage is notified to the passenger by short message to inform the passenger of the baggage transportation, and at the same time, let the passenger know the baggage transportation situation in time or It is to verify whether the baggage transportation is wrong.
  • the feedback information is sent to the passenger-held terminal device in the form of a push notification.
  • the target robot may actively report the feedback information to the system, or the system may send an acquisition request, the acquisition request includes a required transport data type, and the target robot sends feedback information to the system according to the acquisition request.
  • the baggage transportation method provided by the embodiment of the present application is to obtain the baggage starting position and the target position by using the baggage information and/or the passenger information, so that the target robot transports the baggage from the starting position to the target position, thereby improving The efficiency of airport baggage check and collection also saves the investment of airport human resources.
  • FIG. 11 is a schematic flowchart of a first embodiment of a method for transporting baggage according to another technical solution provided by the present application. It should be noted that the baggage transportation scheme shown in FIG. 11 is exemplified by the target robot as an execution subject. Wherein, the method includes steps S40 to S60.
  • the target robot receives a control command.
  • the control instruction is from a processing unit in the transportation system, and the control instruction includes: baggage information corresponding to the baggage, a starting position of the baggage, and a target position.
  • one of the starting position and the target position of the baggage is the baggage storage position, that is, the position where the baggage needs to be stored; the other is that the baggage picking position refers to the current location of the baggage or the starting point of the baggage.
  • the starting position and the target position of the baggage are consistent with the meanings described above, reference may be made to the description and examples of the baggage starting position and the target position after step S20 above, and details are not described herein again. .
  • control instruction may also include other content such as a starting posture of the baggage, a target posture, identification information (such as a baggage identification tag), parameters of the baggage, and the like.
  • identification information such as a baggage identification tag
  • control command may further include a holding position and/or posture of the target robot for holding the baggage, a placement position and/or a posture for the target robot to place the baggage.
  • the control command may further include acquiring a position/orientation of the baggage, releasing the position/attitude of the baggage, respectively for Cooperate with the acquired position and/or posture, placement position and/or posture of the robot.
  • the obtained position and the acquired position correspond to the starting position, and the starting position is adjusted according to the position obtained; when the baggage is taken off from the target robot, the baggage release task is performed.
  • the placement position and the release position correspond to the target position, and the position adjustment according to the baggage is made based on the target position. It should be noted that the content included in the control command can be adjusted according to actual needs.
  • the corresponding baggage is obtained based on the control command acquired in step S40, wherein the target robot may directly obtain the corresponding baggage, or the target robot may indirectly obtain the corresponding baggage, for example, acquired by the auxiliary baggage claim device 104. Baggage.
  • the control command received by the target robot is the bag number 2018030200000001 on the baggage identification tag, and the baggage parameter may also be included in the control command, for example, the color is wine red, and the size is 30 inch trolley case.
  • the target robot After the target robot recognizes the corresponding baggage, it acquires the baggage corresponding to the control command.
  • the target robot indirectly holds the corresponding baggage, that is, the acquisition of the baggage is completed and placed on the target robot via a hosted robot or other acquired device or staff.
  • FIG. 12 is a schematic flowchart of step S50 in an embodiment, and is also a schematic flowchart of a second embodiment of the method for baggage transportation of the present application. Wherein, step S50 includes steps S51 to S53 in the current embodiment.
  • S51 Identify the baggage based on the baggage information and/or the passenger information.
  • an identification device such as a visual sensor
  • a visual sensor may be disposed in the area where the baggage is held, or may be disposed on the target robot or the acquired robot that cooperates with the target robot to perform the holding.
  • the baggage that the target robot needs to transport is identified by identifying the identification data or image of the device.
  • the visual sensor is directly or indirectly in communication with the target robot, the acquiring robot, and the processing unit of the system.
  • the control command may be sent by the processing unit in the transportation system to the target robot, and the control instruction includes the baggage information and/or the passenger information to facilitate the robot to recognize the baggage to complete the transportation of the baggage.
  • the control command may further include transmitting the obtained recognition result to the target robot according to the identification data or the image of the identification device, and may also transmitting the recognition result to the target robot.
  • the recognition result may include the location and/or posture of the identified baggage, and the target robot is used to acquire or acquire one or more of the position and/or posture of the baggage, and send the result to the target robot.
  • the recognition result may include the location and/or posture of the identified baggage, and the target robot uses one or more of the position and/or posture of the baggage to transmit to the target robot, and the recognition result further includes matching the target.
  • the robot's acquiring robot is used to obtain the position and/or posture of the baggage and send it to the acquiring robot. It will be appreciated that the communication path may vary flexibly based on the principles of the present application and is not limited to the specific implementation of the limited examples.
  • the position of the baggage is further judged to facilitate a safer or safer posture. Hold the baggage to avoid damage to the baggage due to improper posture of the baggage, or to avoid the baggage falling due to unsuccessful baggage, or to avoid being placed on the target robot due to the posture. Unreasonable relative posture causes transportation difficulties.
  • the target robot obtains the baggage indirectly, that is, the baggage is obtained by the acquiring robot, and then the baggage is placed on the target robot by the acquiring robot, thereby completing the baggage acquisition, and the target is acquired by the target. Based on the acquired baggage information and/or passenger information, the robot further determines the posture of the current baggage or further verifies whether the posture of the current baggage is as shown in the control instruction, and then sends the judgment result to the acquiring robot or controls The robot is acquired to complete the baggage required for transportation.
  • S53 Baggage based on the position of the baggage.
  • the baggage required for transportation is obtained. It is better to transport the current baggage in a safe and secure manner through steps S51 to S53.
  • step S53 specifically includes: acquiring baggage from the acquired robot. That is, in the current embodiment, the baggage is obtained by the acquired robot, the target robot acquires the baggage from the acquired robot, and the target robot completes the transport of the baggage.
  • the baggage required for transportation is obtained, and the baggage is transported from the starting position to the target position.
  • the method further comprises: planning the transportation path or the trajectory according to the starting position and/or the target position of the baggage. Understandably, passengers at the same checked baggage terminal or at the consignment window at the airport are on different flights, and the baggage of different flights is transported to different locations.
  • the robot acquires the planned route provided by the system autonomously after learning the initial position and target position of the baggage to be transported.
  • the target robot can also be grouped according to the service's baggage concentration point, so that the required route is pre-stored in the system of each target robot, which can be understood, and each target robot is stored at this time. There are different routes to the same baggage concentration point.
  • the system of the 121201 robot stores the route to the location of the baggage of different flights in Zone A.
  • the robot is assigned to the task in 121201, it will be further based on the current location.
  • the detailed location of the assigned transport task calls the corresponding route. After planning the route or calling the corresponding route, the transportation time can be better saved.
  • step S60 further includes: transmitting the transportation data to the processing unit to feed back the shipping details of the baggage.
  • a processing unit refers to a processing unit in a transportation system. In the process of transporting the baggage by the target robot, the transport data is recorded at the same time. The transport data includes: the weight of the baggage, the time of transporting the baggage, the speed of the baggage transported by the target robot, the target position to which the baggage is actually transported, and the baggage transport to the target position. The time, and whether other matters occurred during the transportation of the baggage.
  • the baggage transportation method shown in FIG. 11 can better realize the intelligent transportation by receiving the control instruction and further obtaining the baggage required for transportation based on the received control command, and transporting the baggage from the revelation position to the target position.
  • the baggage to the cabin or the transfer station improves the efficiency of baggage check and collection at the airport, and saves the investment in human resources of the airport.
  • FIG. 13 is a schematic flowchart of still another embodiment provided by the present application: “a method for transporting baggage” in an embodiment. It should be noted that the scheme of the baggage transportation shown in FIG. 13 is exemplified by the execution subject being the robot. Wherein, the method includes steps S70 to S90.
  • the acquiring robot can communicate with the target robot, it can also be communicatively connected with the processing unit in the transportation system, or can be communicatively connected to both the processing unit and the target robot in the transportation system. Therefore, the path of the acquisition instruction can flexibly set the communication path according to the specific communication setting, for example, it can be directly obtained through any other body connected with the communication, or the instruction of the other body can be indirectly obtained through a body connected to the communication. It can also be that the baggage arrives at the execution area of the acquired robot or other preset starting conditions, that is, the acquired baggage instruction of the acquiring robot is triggered, that is, the received instruction is derived from the body. There is no restriction on the baggage claim.
  • the baggage instruction can include baggage information, the position of the baggage, and the position of the baggage. It may also include information of the target robot that receives the current baggage.
  • the baggage information is used to identify the baggage required to be held, and the baggage information here may be an identity code including the baggage, the appearance of the baggage such as color, shape, size, and the like.
  • the position of the baggage and the position of the baggage are the postures used by the robot to hold the baggage, or the position where the baggage is placed to the target robot, in order to further meet specific needs, for example, to place the baggage to the target robot. Place the baggage with the handle of the baggage facing outward or in a specific direction.
  • the information of the target robot receiving the current baggage may include the number of the target robot, for example, when the host robot is only in communication with the processing unit, or when a specific target robot transports a specific baggage demand, it is convenient to hand over the baggage to the correct robot.
  • the target robot In order to complete the accurate transportation of the baggage; if there is no special demand, the target robot can be placed directly according to the target robot in the current executable operating space without the information of the target robot.
  • the corresponding baggage is obtained according to the information content included in the order.
  • step S80 includes: identifying the baggage based on the baggage information. After identifying the baggage, further identifying and judging what kind of posture the current baggage is in, determining the current position of the baggage, and combining the postures included in the instruction to further determine the machine that needs to acquire the robot. The arm and the end effector are adjusted to what position to carry the baggage, and finally the baggage is transported.
  • the bag posture, the held posture, and the placed posture can be obtained in advance and stored in the baggage information, so that when the robot executes, the baggage new information is directly executed. It saves the planning process during the execution process.
  • S90 Place the baggage to the target robot to transport the baggage from the current initial position of the target robot to the target position by the target robot.
  • the robot After the robot has successfully obtained the baggage, when it is necessary to place the baggage in the required position to the target robot, it can be understood that if the baggage cannot be successfully placed at the target robot at the required posture, it can be more The bag is held and placed or touched to further adjust the position of the baggage, so that the baggage is placed at the target robot in the required posture, and the baggage is transported by the target robot.
  • the method for baggage transportation described in the above steps S70 to S90 obtains the baggage corresponding to the obtained instruction by receiving the baggage instruction from the target robot or the processing unit, and places it on the target robot to complete the baggage. By holding and placing, it is better to realize the auxiliary target robot to obtain the baggage and complete the transportation of the baggage in a fully automated manner.
  • the transportation system 100 further includes a preset assisted baggage handling device 104 for assisting the target robot 103 in completing the transportation of the baggage.
  • the assisted baggage handling device 104 is a holding robot.
  • the auxiliary baggage device 104 in the transportation system 100 provided in FIG. 14 is communicatively coupled to the target robot 103.
  • the auxiliary baggage device 104 can be communicatively coupled to the processing unit 101. It may be in communication with the target robot 103 and the processing unit 101.
  • the auxiliary baggage device 104 can be set to communicate with the target robot 103 and/or the processing unit 101. When the auxiliary baggage device 104 is only in communication with the target robot 103, the auxiliary baggage device 104 is indirectly Communication with the processing unit 101 is performed.
  • the transportation system 100 further includes a terminal device 105 communicatively coupled to the processing unit 101 for obtaining the bag information and/or passenger information and for communicating with the processing unit 101.
  • the terminal device 105 may be integrated with the information acquiring unit, or may be two independent individuals.
  • FIG. 7 provides that the terminal device 105 and the information acquiring unit 102 are The situation of two independent individuals. The terminal device will be described in detail below, and will not be described herein.
  • FIG. 16 is a schematic structural diagram of a structure of a robot 200 according to an embodiment of the present application.
  • the robot 200 includes a processor 201, a memory 202 and an interface circuit 203 coupled to the processor 201, respectively.
  • the robot 200 also includes a mobile chassis 205 for transporting luggage from a storage location to a target location.
  • the robot 200 may further include a mechanical arm 204 electrically coupled to the processor 201.
  • the end of the mechanical arm 204 is provided with an end effector 2041 for performing the execution of the released and released baggage.
  • the memory 202, the interface circuit 203, and the robotic arm 204 cooperate with the processor 201 to perform the method of baggage transport provided by the various embodiments as described above while in operation.
  • the terminal device 300 includes a processor 301, a memory 302, and a computer program stored on the memory 302.
  • the processor 301 is coupled to the memory 302, and the processor 301 executes the computer program stored in the memory 302 during operation, and implements the method for baggage transportation as described above, and the steps performed by any of the terminal devices in various embodiments. Above, I will not repeat them here.
  • the terminal device 300 may be a self-service consignment service device installed at an airport, a mobile phone, a notebook computer, a tablet having communication and networking functions, other computers that can access the Internet, a local area network, etc. or have communication and A wearable device with networking capabilities, but is not limited to this.
  • FIG. 18 is a schematic structural diagram of a second embodiment of a terminal device according to the present application.
  • the terminal device 300 further includes an information acquiring unit 303.
  • the information acquiring unit 303 is configured to acquire baggage information and/or passenger information.
  • the information acquiring unit 303 may be a camera, a barcode scanning device, an OCR recognition device, or other components having a scanning function. It can be understood that when the terminal device 300 is an airport self-service shipping service device, the information acquiring unit 303 may be integrated with the self-service shipping service device, or may be an external device.
  • the information obtaining unit 303 can refer to the corresponding execution method in the foregoing method class embodiment.
  • FIG. 19 is a storage medium 400 of the present application.
  • the storage medium 400 stores program data, and the method for implementing baggage transportation as described above when the program data stored in the storage medium 400 is executed.
  • the storage medium 400 described above may be one of a memory of a terminal device, a personal computer, a server, a network device, a cloud storage device, or a USB flash drive.
  • the present application adopts the above embodiment scheme, and obtains baggage information and/or passenger information, and confirms the starting position and the target position of the baggage according to the acquired baggage information and/or passenger information, and the target robot completes the transportation of the baggage.
  • the baggage transportation is completed efficiently, the airport's investment in human resources is reduced, and the passengers are provided with a less time-consuming baggage check baggage claim.

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Abstract

公开了一种行李运输的方法，该方法包括：获取行李信息和/或旅客信息；利用行李信息和/或旅客信息确认行李的起始位置和目标位置，其中起始位置和目标位置中的一个是行李存放位置，另一个是行李提取位置；控制目标机器人将行李从起始位置运输到目标位置。使用该方法能够实现高效率地完成对行李的托运和领取，提供一种较好的用户体验，节省了机场对于人力资源的投入。还提供了一种行李运输方法、运输系统、机器人、终端设备和一种存储介质。

Description

行李运输方法、运输系统、机器人、终端设备及存储介质 技术领域
本申请涉及机场自动化领域，特别是涉及行李运输的方法、运输系统、机器人、终端设备及存储介质。
背景技术
近年来飞机出行由于其耗时短成为越来越多旅客的选择，导致客流量不断攀升，但是由于目前机场托运行李流程均需人工参与且行李处理流程较繁琐，导致处理的时间较长，旅客花费较多时间在办理行李的事务上。尤其是遇到出行高峰期时，则会导致密集的人群聚集排队，花费更多的时间托运行李以及领取行李。因此，对于托运行李/领取行李的运作效率较低、耗时较长的问题，亟待解决，以充分实现航空业的高效操作。
发明内容
本申请主要解决的技术问题是提供一种行李运输方法、系统、终端以及存储介质。能够提高机场行李托运的效率。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种行李运输的方法，所述方法包括：
获取行李信息和/或旅客信息；
利用所述行李信息和/或所述旅客信息确认所述行李的起始位置和目标位置，其中所述起始位置和所述目标位置中的一个是行李存放位置，另一个是行李提取位置；
控制目标机器人将所述行李从所述起始位置运输到所述目标位置。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种行李运输的方法，所述方法包括：
接收控制指令；
基于所述控制指令获持对应的行李；
基于所述控制指令将所述行李从起始位置运输到目标位置。
为解决上述技术问题，本申请采用的又一个技术方案是：提供一种行李运输的方法，所述方法包括：
接收获持行李指令；
基于所述获持行李指令获持对应的行李；
将所述行李放置至目标机器人，以由所述目标机器人将所述行李从目标机器人当前的初始位置运输至目标位置。
本申请还提供一种运输系统，所述系统包括：处理单元，与所述处理单元相互耦接的信息获取单元和目标机器人；其中，所述信息获取单元用以获得行李信息和/或旅客信息；所述处理单元用于获取所述行李信息和/或旅客信息，利用所述行李信息和/或所述旅客信息确认所述行李的起始位置和目标位置；所述目标机器人用于根据所述行李信息和/或所述旅客信息，将所述行李从所述起始位置运输到所述目标位置。
本申请还提供一种机器人，所述机器人包括：处理器，分别与所述处理器耦合的存储器和接口电路；其中，所述处理器根据调用所述存储器内的计算机程序以及调用所述接口电路，执行任一项上述的方法。
本申请还提供一种终端设备，所述终端设备包括：处理器、存储器以及存储在所述储存器上的计算机程序，所述处理器耦合所述存储器，所述处理器在工作时执行所述计算机程序以实现如上所述的方法。
本申请还提供一种存储介质，所述存储介质存储有程序数据，所述程序数据被执行时实现如上所述的任一种技术方案。
本申请采用以上方案，通过获取行李信息和/或旅客信息，根据所获取的行李信息和/或旅客信息确认行李的起始位置和目标位置，并由目标机器人完成对行李的运输。较好地实现了高效率地完成对行李的运输，减少了机场在人力资源上的投入，也为旅客提供了一种用户体验更佳的行李托运和领取的托运行李领取行李的流程。
附图说明
图1是本申请行李运输的方法一实施例的流程示意图；
图2是本申请行李运输的方法另一实施例的流程示意图；
图3是本申请行李运输的方法又一实施例的流程示意图；
图4是本申请行李运输的方法又一实施例的流程示意图；
图5是本申请行李运输的方法又一实施例的流程示意图；
图6是本申请行李运输的方法又一实施例的流程示意图；
图7是本申请行李运输的方法又一实施例的流程示意图；
图8是本申请行李运输的方法又一实施例的流程示意图；
图9是本申请行李运输的方法又一实施例的流程示意图；
图10是本申请行李运输的方法又一实施例的流程示意图；
图11是本申请行李运输的方法一实施例的流程示意图；
图12是本申请行李运输的方法另一实施例的流程示意图；
图13是本申请行李运输的方法一实施例的流程示意图；
图14是本申请运输系统一实施例的结构示意图；
图15是本申请运输系统另一实施例的结构示意图；
图16是本申请目标机器人一实施例的结构示意图；
图17是本申请终端设备一实施例的结构示意图；
图18是本申请终端设备另一实施例的结构示意图；
图19是本申请存储介质一实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。可以理解的是，此处所描述的具体实施例仅用于解释本申请，而非对本申请的限定。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、 产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
本申请实施例提供一种运输系统，请参见图14，该运输系统100包括：处理单元101，与处理单元101相互通信连接的信息获取单元102和目标机器人103。其中，信息获取单元102用于获得行李信息和/或旅客信息。处理单元101获取该行李信息和/或旅客信息，利用行李信息和/或旅客信息确认行李的起始位置和目标位置，其中起始位置和目标位置中的一个是行李存放位置，另一个是行李提取位置。目标机器人103用于根据处理单元101的控制指令后，将行李从起始位置运输到目标位置。
以下结合应用于运输系统的行李运输方法的各种实施方式，共同示例阐述发明原理。
请参见图1，为本申请行李运输的方法一实施例的流程示意图。该行李运输的方法应用于本申请实施例提供的运输系统100，处理单元101用于执行步骤S10至步骤S30。
S10：获取行李信息和/或旅客信息。
可以理解的，由于不同旅客或者是旅客在不同场景下的行李运输需求不同，所以步骤S10在不同的实施例中包括不同的内容。具体的步骤S10可以是获取行李信息和旅客信息，还可以是只获取行李信息和旅客信息中的任意一种，即设定步骤S10只获取行李信息，或设定只获取旅客信息。以下针对步骤S10的不同实施例加以充分阐述。
如图2所示，在一实施例中，当旅客是进入机场需要托运行李，步骤S10具体包括步骤S11至S13。
S11：获取行李信息及旅客信息。
旅客信息可以包括旅客的身份信息，例如身份证号、护照号等证件或者生物特征(例如指纹、人脸、声纹、虹膜等)等，及航班信息，例如航班号等。行李信息可以包括行李的标识，还可以包括行李的数量、颜色、重量、尺寸等参数中的一个或多个。具体的，在此对所获取的旅客信息和行李信息的内容并不做任何的限定，即旅客信息和行李信息的内容可以根据实际的需要进行设定。
其中，处理单元101是根据信息获取单元102获取该行李信息及旅客信息。具体的，信息获取单元102可以为识别装置，也可以为输入装置，例如键盘、触摸屏等提供人工录入。该信息获取单元102与该运输系统的处理单元101通信连接，进而处理单元101获取该行李信息及旅客信息。该信息获取单元102可以设置于托运柜台的处理终端、自助服务终端、移动终端等终端设备，具体可以为外接装置也可以内嵌于终端设备。其中，识别装置可以为视觉传感器，用于获得行李图像，从而得到行李信息，还可以用于获得身份证、护照、人脸、登机牌等图像，从而得到旅客信息；还可以为扫码装置，用于识别登机牌的条码或二维码以获得旅客信息，还可以用于识别行李标签的条码或二维码以获得行李信息；还可以为多种方式的组合，例如，识别装置通过身份证、人脸等识别获得旅客信息，或该识别装置为扫码装置时，扫描登机牌获得旅客信息，并通过与终端设备连接的测重装置、获取行李的目标机器人或获持行李的获持机器人测算出行李的重量，视觉传感器识别出行李的尺寸等其他行李信息。
S12：建立并保存行李信息和旅客信息之间的关联关系。
根据S11获取的信息，建立并保存行李信息与旅客信息之间的关联关系。在旅客领取行李时即便只获取到旅客信息或行李信息中的一种，也可以根据该关联关系，通过一种信息获取到另一种信息，提供系统后续所需的各种操作。
S13：输出包括部分或全部行李信息，用于打印生成行李识别标签。
进一步的，处理单元101还可以输出行李信息，使得可以打印包括部分或全部的所述行李信息生成行李识别标签。其中，所需打印的行李 信息根据实际的需要预先设定，在不同的实施例中，所打印的行李信息可以是打印全部行李信息，还可以是打印部分的行李信息。所打印的行李识别标签可以贴附于对应的行李上，以便区分不同旅客的行李，为行李提供身份标识。可以理解的是，打印行李识别标签可以是由本系统完成，例如可以由机器人执行，还可以是外接的打印设备完成，在此不做任何的限定。
需要说明的是，如若当前托运是以行李识别标签以外的任意方式来区分各个行李，则可以省略步骤S13。例如，获取行李信息与旅客信息并建立关联后，系统跟踪该行李的所有路径及位置，来唯一识别该行李。
在另一实施例中，当旅客飞抵目的地，领取行李时，只需要获取旅客信息和行李信息中的至少一种，即可直接或间接获取到该旅客的行李。如：通过扫描乘客登机牌、证件等或者是通过人脸、指纹等识别获取旅客信息，再通过所获取的旅客信息获取与当前旅客信息所关联的行李信息。或者根据行李信息，获取对应的旅客信息，旅客信息可以包括旅客的定位信息、联系方式、领取行李的地点信息等。
在上述多种可实施方式获取行李信息和/或旅客信息之后，如图1，步骤S10之后进一步包括：
S20：利用行李信息和/或旅客信息确认行李的起始位置和目标位置。
其中行李的起始位置和目标位置中的一个是行李存放位置，另一个是行李的提取位置。在一实施例中，根据实际的需要设定行李存放位置是机舱或者是运往机舱的中转站，即机舱的中转站是非机舱处，行李的一个聚集区域；行李提取位置是指启动运输时提取行李的起点，在不同的设定，可以是乘客的位置，或者是乘客可以抵达的中转地，比如是领取柜台或托运柜台等，用于领取或托运行李的区域。
可以理解的是，根据行李信息及关联旅客信息中的航班信息，行李信息还包括托运行李时的行李提取位置、行李存放位置，以及领取行李时的行李提取位置、行李存放位置。该信息可以根据航班信息直接获取保存至行李信息，也可以根据航班的动态实时更新获取保存。
在一实施例中，当旅客是在某一固定的自助服务终端处托运行李， 如图3所示，步骤10可以为该示例中步骤S14：获取行李信息。步骤20可以为该示例中步骤S21：从所获取的行李信息中获取行李提取位置和行李存放位置，对应行李的起始位置和行李的目标位置。该“对应”包括等同或关联对应关系。此时行李的起始位置可以是行李托运所在的自助服务终端设备的位置，也可以是预先设定的某一固定处理区域的位置。
在另一实施例中，当旅客是在领取行李时，在获取行李信息或旅客信息中的至少一种后，根据行李信息和/或旅客信息确认行李的目标位置，以及起始位置。航班抵达后，起始位置可以对应当前航班放置行李的行李存放位置。如图4所示，例如领取行李阶段，上述步骤S10可以为S15：获取旅客信息。步骤S20可以为S22：根据旅客信息获取旅客位置作为行李提取位置，根据旅客信息中的航班信息确认行李存放位置。根据航班信息可以获知行李于抵达机场的行李存放位置，即得到起始位置，以及行李的目标位置，即旅客提取行李位置。进而，可以将行李信息提供旅客，使得旅客到达行李的目标位置进行领取。又或者是在领取行李时，系统根据行李信息，获取该行李的旅客信息，例如旅客的定位信息、旅客设置的领取行李的地点信息，以获取旅客领取行李的位置从而确认目标位置。
可以理解的是，上述示例扩展的实施例，并不限定于示例性步骤S14、S21用于托运行李应用，步骤S14、S22用于领取行李应用，根据本发明示例原理，步骤应用于交换的应用场景，也属于本申请保护范围。
S30：控制目标机器人将行李从起始位置运输到目标位置。
进一步的，经过步骤S20确认了行李的起始位置和目标位置后，控制目标机器人将行李从起始位置运输到目标位置。其中，目标机器人是指接收控制指令并可以完成将所述行李从行李的起始位置运输至目标位置。该控制指令可以包括行李信息，使得目标机器人根据行李信息到达行李的起始位置获取行李并运输到目标位置。其中目标机器人可以根据行李信息的起始位置和目标位置自主导航。其他方式中，控制指令可以包括系统已规划好的由起始位置到目标位置的运输路线，运输路线可 以为起始位置到目标位置的运动路径或运动轨迹，或者预设路线的编号，提供目标机器人据此执行运输。该控制指令还可以为系统100已设定的目标机器人的启动规则，例如，目标机器人一旦检测到获取到行李，即自行启动运输。该方式下，目标机器人进行运输的运动路径或运动轨迹可以是已知的，或者目标机器人设置有感测装置，用于感测行李，得到行李信息，从而自主规划运输路径或轨迹。可以理解的，在不同的应用场景下，目标机器人是从什么位置获取行李，或者是以什么样的姿态获取行李根据预先设定的参数数据而定，具体在此不做任何限定。
上述行李运输的方法及应用该方法的运输系统，通过获取所需的行李信息和/或旅客信息，利用所获取的信息进一步得到行李的起始位置和目标位置，以使目标机器人将行李从起始位置运输至目标位置，较好地提高了机场托运行李以及领取行李的效率，同时还较好地节省了机场的人力成本。
在托运行李的应用中，运输系统100还可以包括装载于终端设备的应用软件，作为客户端，旅客通过启用客户端，通过客户端触发托运行李指令。处理单元101根据该托运行李指令，获取旅客信息，包括旅客的位置信息。进而调用目标机器人根据旅客的位置信息到达旅客位置，由于旅客是需要进行托运，则行李当前所在的位置与旅客所在位置是同一位置，所以将所得的旅客位置作为行李提取位置。该行李提取位置可以是系统100提供的多个可供托运位置之一，由旅客选择设定，则该选择的提取位置可以保存于旅客信息。再通过旅客信息中的航班信息确认行李存放位置，可以为旅客所乘坐的航班所在的货舱。进而，目标机器人完成将行李由起始位置到目标位置的运输。
基于上述实施例，该应用软件可以安装于旅客的自持终端设备，即可成为前述的终端设备，该自持终端设备具有定位功能。则旅客通过应用软件触发托运行李指令或领取行李指令，应用软件调用自持终端设备的定位功能，获得该定位信息，并将该定位信息作为客户信息发送至处理单元101。则系统100根据该旅客信息的定位信息，即旅客位置信息，作为行李提取位置，且可以满足实时跟踪定位。根据旅客信息中的航班 信息确认行李存放位置。
请参见图5，在另一实施例中，行李的运输方案可以包括步骤S16至S33。
S16：获取行李信息及旅客信息。
获取行李信息和该行李信息所对应的旅客信息。
S17：建立并保存行李信息和旅客信息之间的关联关系。
S18：输出包括部分或全部行李信息，用于打印生成行李识别标签。
该识别标签可以为条码、二维码等，也可以为文字或其他特定标识。关于步骤S16、S17和步骤S18的阐述，请参见图2所对应的实施例的阐述，具体在此不再详述。该行李识别标签可以通过目标机器任或获持机器人将其贴附于对应的行李上。
S23：根据旅客信息获取旅客位置作为行李提取位置，从行李信息中获取行李存放位置。
在进行上述步骤S17和步骤S18时，同时需要根据所获取的旅客信息进一步获取旅客位置作为行李的提取位置，从行李信息中获取行李存放位置。当旅客是托运行李时，则旅客信息中的旅客所使用的终端设备的位置即是旅客当前所在的位置，获取该位置信息作为行李提取位置，行李信息中则会包括行李应该办理托运的航班，根据此判断行李的存放位置。
可以理解的，当旅客是飞抵目的地后，领取行李时，可以根据旅客信息中的航班信息进一步确认当前航班行李在飞机飞抵当前机场后将行李暂放的位置，该行李暂放位置可以为行李领取位置，例如可以为行李领取的输出口或区域。其他实施方式中，该暂放的位置可以为机器人用于获取行李的位置，进而可以根据旅客所在的位置对应的目标位置，规划获持行李后当前的起始位置至目标位置的路径，自主导航，将行李运送给该行李对应的旅客。
S33：控制目标机器人将行李从起始位置运输到目标位置。
在确认行李的领取位置和行李的存放位置后，进一步控制目标机器人将行李从起始位置运输至目标位置。
请参见图6，在一实施例中，从旅客信息中获取旅客位置的步骤进一步包括：
S24：从旅客信息中获取固定的旅客位置。
当旅客是在某一设置在机场特定位置的自助服务终端处，处理托运行李或者是领取行李的服务，则进一步根据所获取的旅客信息中所包含的当前终端设备的编号或者位置信息，确认旅客位置。由于设备是固定的，所以此时所获取到的旅客的位置信息是固定的旅客位置信息。
请参见图7，在另一实施例中，从旅客信息中获取旅客位置的步骤包括：
S25：根据旅客信息追踪旅客以获取旅客位置。
当旅客是在机场中预设区域实时前行，则会根据旅客信息进一步追踪旅客以获取旅客位置。其中根据旅客信息中所包含的用户ID，或者是与运输系统进行通信的终端设备(此时可以为手机和平板电脑等，具体在此不做限定)的ID，又或者是终端设备的位置信息，进行追踪旅客，从而实现获取旅客位置。在追踪到旅客位置后，将该位置作为行李提取位置。如若此时旅客的信息是实时变化的，可以进一步进行实时追踪或者是进一步询问旅客，提示旅客输入或选择行李的提取位置，在进行上述操作的同时、之前或之后，根据旅客信息中的航班信息确认行李存放位置。
其中，需要强调的是在本实施例中根据旅客信息追踪定位旅客以获取旅客位置中，旅客信息中包含有旅客的所持终端设备的身份编号，或者是终端运行的客户端(应用软件)所使用的用户ID，该客户端调用终端设备的定位功能并上报至系统，进而处理单元101获取到该旅客信息。因此，可以实现根据旅客信息追踪定位旅客的位置。可以理解的，追踪定位可以较好地帮助旅客高效率地完成托运行李或领取行李，相比于现有技术中需要旅客去特定的位置排队等候人工托运，较好地节省了时间。
可选地，步骤S30控制目标机器人将行李从起始位置运输到目标位置包括：向目标机器人发送控制指令，控制指令用于通知目标机器人将 行李从起始位置运输到目标位置，控制指令包括行李的起始位置和目标位置，或运输路线。
在一实施例中，获取行李信息和/或旅客信息，并根据所获取的行李信息和/或旅客信息确认了行李的起始位置和目标位置后，向目标机器人发送控制指令，通知目标机器人将对应特定参数或标识信息的行李运输至目标位置，控制指令包括行李的起始位置和目标位置。可以理解的，在当前的运输系统中会有预设数量的目标机器人，系统会随机分配任务给目标机器人，也可以是当按照一定的规则分配运输行李任务给目标机器人。需要说明的是，为了方便管理，会预先为当前运输系统中的目标机器人设置编号，可以为各目标机器人具有唯一的编号，该编号可以显现于机器人，提供系统识别。其他实施方式，还可以为系统或机器人自身存储有各机器人唯一机器码与编号的关联关系，通过系统获取或机器人上报得到对应的编号，该方式下，编号可以灵活调整及分配。当有旅客要托运或者是领取行李时，系统会随机为不在执行任务的目标机器人分配任务，进一步，还可以结合机器人的位置，用于判断与待分配任务的距离远近，和/或编号的顺序进行分配行李运输任务。
其中，控制指令进一步包括：行李的起始姿态、目标姿态、标识信息以及目标机器人用于获持行李的获持位置和/或姿态、目标机器人用于放置行李的放置位置和/或姿态中的至少一种。行李的起始姿态是经处理装置计算所得行李当前的姿态；目标姿态是指将行李运输至目标位置时被放置的姿态(如设定将行李运送至目标位置时，均以行李箱把手向外或者是朝向旅客放置)。标识信息是指可以唯一识别该行李的信息，可以是行李的识别标签，也可以是其他用于识别行李的参数或信息。目标机器人用于获持行李的获持位置和/或姿态是指经运输系统获取到的或处理所得的目标机器人获持当前行李的位置和/或姿态。目标机器人用于放置行李的位置/姿态是指运输系统中根据识别装置或行李信息得到的行李起始位置/姿态、目标位置/姿态对应计算或处理得出的机器人用于获持这个行李的获持位置/姿态，用于放置行李的放置位置/姿态。可以理解的，控制指令具体包括的内容可以根据实际的需要进行调整设定， 具体在此不做任何限定。
可以理解的是，目标机器人用于获持行李的获持位置/姿态、用于放置行李的放置位置/姿态可以由机器人根据行李的位置/姿态，自行规划得到。该方式下，目标机器人具有处理器，及存储有获持、放置算法的计算机程序，使得处理器可以调用并执行，独立完成获持、放置任务。
可选地，在一实施例中，步骤S30控制目标机器人将行李从起始位置运输到目标位置之前进一步包括：控制获持机器人将行李放置在目标机器人上。具体的，目标机器人负责将行李运输至目标位置，可以为仅具有承载行李机构的移动机器人，例如包括承载机构及移动底盘。而进一步增加获持机器人，可以为具有机械臂及末端执行器的操作用机器人，用于执行获持行李并放置于目标机器人。其他实施例中，目标机器人可以为具有承载行李机构的移动机器人，并集成机械臂及末端执行器，具备操作能力。可以理解的是，当该集成有移动底盘、操作能力以及处理器、存储器，并集成识别装置时，例如视觉传感器，则该目标机器人可以独立完成目标行李的识别，获得行李信息包括行李的位姿，以及通过处理器执行存储器中集成上述行李运输方法的计算机程序，即可自主规划获持、放置行李的位姿并执行，以及运输路径的规划。具体原理可以参看前述系统100处理单元101的原理。
请参见图8所示的本申请行李运输的方法一实施例流程示意图，该方法可以应用于运输系统100包括辅助获持行李装置104(如图15)的实施方案，该示例中辅助获持行李装置104采用获持机器人加以示例阐述。当需要获持机器人来辅助完成对行李的运输时，则步骤S30控制目标机器人将行李从起始位置运输到目标位置的流程可参看如图8示例。该实施例包括执行步骤S34，S35。
S34：控制获持机器人将行李放置在目标机器人上。
在确认行李的起始位置后，进一步控制获持机器人将对应的行李放置在目标机器人上。在当前实施例中，设定获持机器人是受控于运输系统中的处理单元101。其中，获持机器人可以直接受控于控制系统中的处理单元，也可以是间接受控于运输系统中的处理单元，例如获持机器 人是直接受控于目标机器人，即获持机器人与目标机器人和/或系统的处理单元通信连接，该受控，包括接收到用于获持行李的指令，或者集成于系统的初始设定，具体在此不做任何限定其他实施例中的获持机器人的受控方。
S35：向目标机器人发送控制指令，控制指令用于通知目标机器人将行李运输到目标位置。
在获持机器人按照预设的要求获持到对应行李，并将行李放置在目标机器人后，向目标机器人发送控制指令，控制指令用于通知目标机器人将行李运输到目标位置。可以理解的是，当获持机器人是受控运输系统中的处理单元101时，则会在完成获持行李并将行李放置在目标机器人上后，会对应通知到处理单元，告知完成获持行李的动作，可以启动运输。需要说明的是，由于机场需要托运或者领取的行李的形状体积均是不同的，则需要根据行李的参数调整获持行李的位姿或者是运输位姿，以保证安全稳妥地完成对行李的运输。
其他实施方式中，可以不包括步骤S35，例如，目标机器人具有感知装置，当感知到有物体放置，即目标机器人判断已获取到行李，即可启动运输。例如，感知装置可以为压力传感器，触觉传感器等，当行李放置到目标机器人，使得压力传感器或触觉传感器获取到一感知数据，当该感知数据符合设定条件，则判断已获取到行李。
其他实施方式中，目标机器人执行运输任务，可以为，系统通知目标机器人当前获取的行李的目标位置，或，分配目标机器人获取的行李以及目标位置。还可以为，目标机器人具有识别装置，用于识别行李，进而获取该行李的行李信息，包括目标位置；或根据行李信息向系统获取该行李的目标位置。
进一步的，请参见图9所示的一实施例中的流程示意图，在获取行李信息和/或旅客信息之前还包括步骤S1，该示例下行李运输方法包括如下步骤：
S1：获取请求指令。
其中，请求指令包括托运行李指令或领取行李指令。具体的，请求 指令可以是旅客使用自持的终端设备如手机、平板，也可以是设置在机场某一位置的自助终端设备，触发该请求指令。
S2：获取行李信息和/或旅客信息。
根据请求指令获取行李信息、旅客信息。具体的，旅客信息可以为通过终端设备中启用连接系统100的客户端，调用摄像头，启用人脸识别，或者调用终端设备的指纹获取模块，启动指纹识别，或者通过旅客输入个人信息，获得旅客信息。行李信息可以通过，调用摄像头获取行李的图像，识别行李信息。通过通信连接系统100客户端的处理单元101，获取客户端获得的行李信息、旅客信息。可以理解的是，客户端获得的行李图像、人脸图像、指纹数据，可以于客户端本地处理生成行李信息、旅客信息，也可以为客户端获取的原始数据发送给处理单元101，由处理单元101处理获得行李信息、旅客信息。进一步的，当客户端调用终端设备的定位功能，旅客信息还可以包括旅客位置信息。
S3：利用行李信息和/或旅客信息确认行李的起始位置和目标位置。
当旅客信息包括旅客位置信息，在托运行李指令下，可以将旅客位置信息作为起始位置，以使目标机器人主动前往旅客位置获取行李。在领取指令下，可以将旅客位置信息作为目标位置，以使目标机器人主动运送行李给旅客。无需旅客专门到特定的柜台办理托运，或者到行李领取区等候，可以有效避免人员拥堵，及排队等待处理、领取导致耗时的问题。
S4：控制目标机器人将行李从起始位置运输到目标位置。
关于步骤S2至步骤S4更多详细的实施方式请参见前述实施例，具体在此不再重复阐述。
请参见图10，为本申请一种行李运输的方法在一实施例中的流程示意图。上述行李运输方法还可以进一步包括步骤S301至S303。
S301：获取来自目标机器人的运输数据。
在目标机器人获取到行李，处理单元101可以进一步获取目标机器人所生成的运输数据，运输数据包括运动路径、运动轨迹、行李的重量、运输行李的时间、目标机器人运输行李的速度、将行李实际运输到的目 标位置、将行李运输至目标位置的时间、以及在运输行李的过程中是否发生其他事项等。其中其他事项包括行李是否发生过跌落等异常事件，还可以包括是否遇到拥堵、故障等事件。可以理解的，当需要运输数据所包括的内容可以根据实际的需要进行调整，具体在此不做任何限定。其中运输数据是由目标机器人上的处理器在其他器件的配合下生成。
S302：根据运输数据生成运输反馈信息。
处理单元101根据所获取的来自目标机器人的运输数据，生成运输反馈信息。即选择目标机器人所记录的运输行李过程中的数据，生成反馈信息。可以理解的，所生成的反馈信息不必包括所有的运输数据，可以只包含旅客关注的数据，如将行李运输至目标位置的时间，行李的目标位置等等。其中，反馈信息所包含的内容可以根据实际的需要进行调整。
S303：将反馈信息以预设的形式发送给旅客。
在获取到运输数据，并根据运输数据生成运输反馈信息之后，进一步将所生成的反馈信息以预设的形式发送给旅客。在此对反馈信息发送给旅客的形式不做特别的限定。
在一实施例中，将行李运输至目标位置的时间，行李的目标位置所组成的运输反馈信息以短信形式通知旅客，以告知旅客行李的运输情况，同时也是让旅客及时了解行李的运输情况或者是校验行李运输是否有误。
在其他的实施例中，将反馈信息以推送通知的形式发送至旅客自持的终端设备上。
其他实施例中，目标机器人可以主动上报反馈信息给系统，或者是系统发送获取请求，该获取请求包括需要的运输数据类型，目标机器人根据该获取请求发送反馈信息至系统。
需要说明的是，上述各个实施例中的步骤在不相互冲突的情况下，且可以相互匹配时，可以相互组合。
本申请实施例所提供的行李运输的方法，是通过利用获取行李信息和/或旅客信息，得到行李的起始位置和目标位置后，使得目标机器人将 行李从起始位置运输到目标位置，提高了机场行李托运和领取的效率，也较好地节省了机场人力资源的投入。
请参见图11，为本申请提供的另一种技术方案“一种行李运输的方法”第一实施例中的流程示意图。需要说明的，图11所示的行李运输的方案以目标机器人为执行主体进行阐述举例的。其中，该方法包括步骤S40至步骤S60。
S40：接收控制指令。
目标机器人接收控制指令。其中，控制指令来自运输系统中处理单元，控制指令包括：行李对应的行李信息、行李的起始位置和目标位置。这里行李的起始位置和目标位置中一个是行李存放位置，即行李需要存放到的位置；另一个是行李的提取位置是指行李当前所在的位置或者是运输行李的起点。具体的，由于这里的行李的起始位置和目标位置与上文所述的含义一致，所以可以参见上文步骤S20之后对于行李起始位置和目标位置的阐述与举例，在此不再详述。
可以理解的，在其他的实施例中，控制指令还可以包含其他的内容，如行李的起始姿态、目标姿态、标识信息(例如行李识别标签)、行李的参数等等。当目标机器人包括移动底盘、机械臂以及末端执行器时，控制指令还可以包括目标机器人用于获持行李的获持位置和/或姿态、目标机器人用于放置行李的放置位置和/或姿态。当目标机器人为移动机器人，例如仅具有承载行李的机构的移动底盘，在具有获持机器人配合的系统中，控制指令还可以包括获取行李的位置/姿态，释放行李的位置/姿态，分别用于配合获持机器人的获持位置和/或姿态、放置位置和/或姿态。可以理解的是，行李放到目标机器人的执行任务时，该获持位置、获取位置对应于起始位置，起始位置做了符合获持的位置调整；行李从目标机器人拿下释放行李任务时，放置位置、释放位置对应于目标位置，基于目标位置做了符合行李的位置调整。需说明的是，控制指令所包含的内容，可以根据实际的需要进行调整设定。
S50：基于控制指令获持对应的行李。
基于步骤S40中所获取的控制指令获持对应的行李，其中可以是目 标机器人直接获持对应的行李，也可以是目标机器人间接获持对应的行李，例如通过前述辅助获持行李装置104获取到行李。
在一实施例中，例如，目标机器人接收的控制指令是获持行李识别标签上的编号为2018030200000001的行李，同时控制指令中还可以包括行李参数，例如颜色为酒红色，尺寸是30寸拉杆箱，目标机器人识别到对应的行李后，获持对应该控制指令的行李。
在另一实施例中，目标机器人间接获持对应的行李，即经由一获持机器人或者是其他的获持设备或工作人员，完成对所述行李的获持，放置于目标机器人。进一步的，请参见图12，为步骤S50在一实施例中的流程示意图，也是本申请行李运输的方法第二实施例的流程示意图。其中，步骤S50在当前的实施例中包括步骤S51至步骤S53。
S51：基于行李信息和/或旅客信息，识别行李。
该方法示例中，还包括识别装置，例如视觉传感器，可以设置于获持行李的区域，也可以设置于目标机器人或配合目标机器人执行获持的获持机器人上。基于行李信息和/或旅客信息中所包含的行李身份标识信息，通过识别装置的识别数据或图像，识别出该目标机器人需要运输的行李。可以理解的，视觉传感器与目标机器人、获持机器人、系统的处理单元之间直接或间接通信连接。一种通信路径示例下，控制指令可以由运输系统中处理单元发送至目标机器人，该控制指令中包含上述行李信息和/或旅客信息，方便机器人识别出行李，以完成对行李的运输。控制指令还可以包括根据识别装置的识别数据或图像，得到的识别结果发送给目标机器人，还可以发送给配合目标机器人的获持机器人。其中，识别结果可以包括识别出的行李所在的位置和/或姿态，目标机器人用于获持或获取该行李的位置和/或姿态中的一个或多个，将该结果发送给目标机器人。其他示例中，识别结果可以包括识别出的行李所在的位置和/或姿态，目标机器人用于获取该行李的位置和/或姿态中的一个或多个发送至目标机器人，识别结果还包括配合目标机器人的获持机器人用于获持该行李的位置和/或姿态，发送给该获持机器人。可以理解的是，基于本申请原理，该通信路径可以灵活变化，并不限于有限示例的具体执 行方式。
S52：获取所述行李的位姿。
在识别出所需运输的行李后，当行李信息不包括各类具体位姿信息或者位姿信息变化的情况下，进一步判断行李的位姿，以便于以一种更为安全或稳妥的位姿获持行李，避免因获持行李的位姿不妥，造成行李的损坏，又或者是避免因获持行李不成功造成行李坠落，再或者是避免因获持位姿、放置于目标机器人上的相对位姿不合理造成运输困难等。
进一步的，当在一实施例中，目标机器人是间接获持行李，即通过获持机器人获持行李，然后再由获持机器人将行李放置在目标机器人上，从而完成获取行李，则会由目标机器人基于所获取到的行李信息和/或旅客信息，进一步判断当前行李的位姿或者是进一步验证当前行李的位姿是否如控制指令中所示，再将判断结果发送至获持机器人或者是控制获持机器人完成对所需运输的行李的获持。
S53：基于行李的位姿，获持行李。
基于步骤S51中识别出的行李，以及对行李位姿的判断，获持所需运输的行李。经过步骤S51至步骤S53可以更好地以一种稳妥安全的方式运输当前的行李。
进一步的，在一实施例中，步骤S53具体包括：获取来自获持机器人的行李。即在当前实施例中，是由获持机器人完成对行李的获持，目标机器人获取来自获持机器人的行李，再由目标机器人完成对行李的运输。
S60：基于控制指令将行李从起始位置运输到目标位置。
经过对行李的识别，以及对所识别出的行李位姿，获持所需运输的行李，并将该行李从起始位置运输到目标位置。
进一步的，步骤S60基于控制指令将行李从起始位置运输到目标位置之前还包括：根据行李的起始位置和/或目标位置，规划运输路径或轨迹。可以理解的，在机场同一托运行李终端设备或者是托运窗口处的旅客，是乘坐不同的航班，不同航班的行李又是运往不同的地点。一种事实方式下，机器人在获知要运输的行李的初始位置和目标位置后，自主 或获取系统提供的规划路线。在其他的实施例中，也可以对目标机器人可以按照服务的行李集中点进行分组，这样在每一个目标机器人的系统中预先存储有所需路线，可以理解的，此时每个目标机器人中存储有去往同一行李集中点的不同路线。如编号是121201的机器人是去往A区行李集中点的，121201机器人的系统中存储有去往A区中不同航班行李所在位置的路线，在121201机器人被分配任务时，则会进一步根据当前所分配的运输任务的详细位置调用对应的路线。经过规划路线或者是调用对应的路线，可以较好地节省运输的时间。
进一步的，当目标机器人完成对行李的运输，即步骤S60之后还包括：将运输数据发送至处理单元，以反馈行李的运输详情。处理单元是指运输系统中的处理单元。在目标机器人运输行李的过程中，会同时记录运输数据，运输数据包括：行李的重量、运输行李的时间、目标机器人运输行李的速度、将行李实际运输到的目标位置、将行李运输至目标位置的时间、以及在运输行李的过程中是否发生其他事项等。
图11所示的行李运输的方法通过接收控制指令，并基于所接收到的控制指令进一步获持所需进行运输的行李，将行李自启示位置运输至目标位置，可以较好地实现智能化运输行李至机舱或者是中转站，提高了机场行李托运和领取的效率，较好地节省了机场人力资源的投入。
需要说明的是，上述各个实施例中的步骤在不相互冲突的情况下，且可以相互匹配时，可以相互组合。
请参见图13，为本申请提供的又一种实施方案：“一种行李运输的方法”在一实施例中的流程示意图。需要说明的，图13所示的行李运输的方案的以执行主体为获持机器人进行阐述举例的。其中，该方法包括步骤S70至步骤S90。
S70：接收获持行李指令。
接收获持行李指令，以获持预设参数的或者身份标识的行李。由于获持机器人可以与目标机器人通信连接，也可以与运输系统中处理单元通信连接，还可以是同时与运输系统中的处理单元和目标机器人两者通信连接。因此获取指令的路径可以根据具体的通信设置灵活设定通信路 径，例如可以是通过与其通信连接的任意其他主体直接获取，也可以通过与其通信连接的一主体间接获取另一主体的指令。还可以为，有行李到达获持机器人的执行区域或其他预设启动条件，即触发获持机器人的获持行李指令，即接收的指令来源于本体。在此对于获持行李指令不做任何限定。
其中获持行李指令可以包括行李信息，获持行李的位姿、放置行李的位姿。还可以包括接收当前行李的目标机器人的信息。行李信息是用于识别出所需获持的行李，这里的行李信息可以是包括行李的身份标识编码、行李的外观如颜色、形状、尺寸等。获持行李的位姿和放置行李的位姿是获持机器人用于获持行李的位姿，或者是放置行李至目标机器人的位姿，为了进一步满足特定需求，例如，放置行李至目标机器人需要将行李以行李把手朝外或某一特定方向，需要满足的放置姿态。接收当前行李的目标机器人的信息，可以包括目标机器人的编号，例如，当获持机器人仅与处理单元通信连接，或者，有特定目标机器人运输特定行李需求时，便于将行李交于正确的机器人，以完成对行李的准确的运输；若无特殊需求，可以无需目标机器人的信息，获持机器人根据当前可执行操作空间存在的目标机器人直接放置即可
S80：基于获持行李指令获持对应的行李。
在接收到获持行李指令后，根据获持指令所包含的信息内容获持对应的行李。
进一步的，在一实施例中，步骤S80包括：基于行李信息，识别行李。在识别行李后，进一步识别判断当前行李是处在一种什么样的位姿，通过判断行李当前的位姿，并结合获持指令中所包含的位姿，进一步确定需要将获持机器人的机械臂及末端执行器调整至什么样的位姿进行获持行李，最终完成对行李的运输。其他实施例中，行李位姿、获持位姿、放置位姿可以预先得到并保存于行李信息中，使得机器人执行时，直接获取行李新信息执行。节省了执行过程中的规划过程。
S90：将行李放置至目标机器人，以由目标机器人将行李从目标机器人当前的初始位置运输至目标位置。
获持机器人成功获持行李后，当需要将行李以所要求的位姿放置至目标机器人时，可以理解的，如若无法一次成功将行李以所要求的位姿放置在目标机器人处，则可以多次获持与放置或者碰触行李，进一步调整行李的位姿，使行李以符合所要求的位姿放置在目标机器人处，并由目标机器人完成对行李的运输。
上述步骤S70至步骤S90所述的行李运输的方法，通过接收来自目标机器人或者是处理单元的获持行李指令，获持与获持指令对应的行李，并放置至目标机器人处，完成对行李的获持和放置，较好的地实现辅助目标机器人获持行李，以全自动化方式高效率地完成对行李的运输。
请参见图15，为本申请所提供的运输系统100在另一实施例中的结构示意图。进一步的，运输系统100还包括预设的辅助获持行李装置104，辅助获持行李装置104用以辅助目标机器人103完成对行李的运输。其中，在一实施例中辅助获持行李装置104是获持机器人。可以理解的，图14所提供的运输系统100中的辅助获持行李装置104是与目标机器人103通信连接的，在其他实施例中，辅助获持行李装置104可以与处理单元101通信连接，也可以是与目标机器人103和处理单元101彼此通信连接。也可以理解成：可以设定辅助获持行李装置104与目标机器人103和/或处理单元101通信，当辅助获持行李装置104只与目标机器人103通信连接时，辅助获持行李装置104即间接与处理单元101进行通信。
请再次参阅图15，运输系统100还包括与处理单元101通信连接的终端设备105，终端设备105用于获得所述行李信息和/或旅客信息，及与处理单元101通信。可以理解的是，在不同的实施例中，终端设备105可以是与信息获取单元耦合为一体的，也可以是两个独立的个体，图7所提供的是终端设备105与信息获取单元102是两个独立个体的情况。其中对于终端设备在下文将会详述，在此不做赘述。
请参见图16，为本申请提供的一种机器人200的结构示意图在一实施例中的结构示意图。该机器人200包括：处理器201，分别与处理器 201耦合的存储器202和接口电路203。机器人200还包括移动底盘205，用于将行李从存放位置运输至目标位置。可对应参看上述方法实施例中的目标机器人。进一步的，机器人200还可以包括与处理器201电性耦接机械臂204，机械臂204的末端设置有末端执行器2041，用于完成获持与释放行李的执行。可对应参看上述方法实施例中的目标机器人或获持机器人。其中，存储器202、接口电路203和机械臂204配合处理器201在工作时执行如上所述各种实施例提供的行李运输的方法。
请参见图17，为本申请提供的一种终端设备300第一实施例中的结构示意图。具体的，终端设备300包括：处理器301、存储器302以及存储在存储器302上的计算机程序。其中，处理器301耦合存储器302，且处理器301在工作时执行存储器302存储的计算机程序，实现如上所述的行李运输的方法、各个实施例中任一种终端设备执行的步骤，具体详见上文，在此不做赘述。
在一实施例中，具体的，终端设备300可以为设置在机场的自助托运服务设备、手机、笔记本电脑、拥有通信和联网功能平板电脑、可以接入互联网、局域网等的其他电脑或拥有通信和联网功能的穿戴设备，但不限于此。
进一步的，请参见图18，为本申请中终端设备的第二实施例的结构示意图。其中，终端设备300还包括信息获取单元303，在本实施例中，信息获取单元303用于获取行李信息和/或旅客信息。具体的，信息获取单元303可以是摄像头，条码扫描装置，OCR识别装置，也可以是其他具有扫描功能的部件。可以理解的，当终端设备300是一机场自助托运服务设备时，信息获取单元303可以是与自助托运服务设备一体的，也可以是外接的设备。该信息获取单元303可以参看上述方法类实施例中对应的执行方法。
请参阅图19，为本申请一种存储介质400，存储介质400存储有程序数据，存储介质400所存储的程序数据被执行时实现如上所述的行李运输的方法。具体的，上述具有存储介质400可以是终端设备的存储器、个人计算机、服务器、网络设备、云存储装置，或者U盘等其中的一种。
本申请采用以上实施例方案，通过获取行李信息和/或旅客信息，根据所获取的行李信息和/或旅客信息确认行李的起始位置和目标位置，由目标机器人完成对行李的运输。较好地实现了高效率地完成对行李的运输，减少了机场在人力资源上的投入，也为旅客提供了一种耗时较少的托运行李和领取行李的方案。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (28)

  1. 一种行李运输的方法，其特征在于，所述方法包括：
    获取行李信息和/或旅客信息；
    利用所述行李信息和/或所述旅客信息确认所述行李的起始位置和目标位置，其中所述起始位置和所述目标位置中的一个是行李存放位置，另一个是行李提取位置；
    控制目标机器人将所述行李从所述起始位置运输到所述目标位置。
  2. 根据权利要求1所述的行李运输的方法，其特征在于，
    所述获取行李信息和旅客信息包括：
    获取所述行李信息及所述旅客信息；
    建立并保存所述行李信息和所述旅客信息之间的关联关系。
  3. 根据权利要求2所述的行李运输的方法，其特征在于，
    所述获取所述行李信息的步骤之后进一步包括：
    输出包括部分或全部所述行李信息，用于打印生成行李识别标签。
  4. 根据权利要求1所述的行李运输的方法，其特征在于，所述利用所述行李信息确认所述行李的起始位置和目标位置包括：
    从所述行李信息中获取所述行李提取位置和所述行李存放位置。
  5. 根据权利要求1所述的行李运输的方法，其特征在于，所述利用所述旅客信息确认所述行李的起始位置和目标位置包括：
    根据所述旅客信息获取旅客位置作为所述行李提取位置，根据所述旅客信息中的航班信息确认所述行李存放位置。
  6. 根据权利要求1所述的行李运输的方法，其特征在于，所述利用所述行李信息和所述旅客信息确认所述行李的起始位置和目标位置包括：
    根据所述旅客信息获取旅客位置作为所述行李提取位置，从所述行李信息中获取所述行李存放位置。
  7. 根据权利要求5或6所述的行李运输的方法，其特征在于，
    所述根据所述旅客信息获取旅客位置包括：
    从所述旅客信息中获取固定的所述旅客位置；或
    根据所述旅客信息追踪旅客以获取所述旅客位置。
  8. 根据权利要求1-7中任一项所述的行李运输的方法，其特征在于，所述控制目标机器人将所述行李从所述起始位置运输到所述目标位置包括：
    向所述目标机器人发送控制指令，所述控制指令用于通知所述目标机器人将所述行李从所述起始位置运输到所述目标位置，所述控制指令包括所述行李的所述起始位置和所述目标位置，或运输路线。
  9. 根据权利要求8所述的行李运输的方法，其特征在于，所述控制指令进一步包括所述行李的起始姿态、目标姿态、标识信息、所述目标机器人用于获持行李的获持位置和/或姿态、所述目标机器人用于放置行李的放置位置和/或姿态中的至少一种。
  10. 根据权利要求1-7中任一项所述的行李运输的方法，其特征在于，所述控制目标机器人将所述行李从所述起始位置运输到所述目标位置之前进一步包括：
    控制获持机器人将所述行李放置在所述目标机器人上。
  11. 根据权利要求1-7中任一项所述的行李运输的方法，其特征在于，所述获取行李信息和/或旅客信息的步骤之前还包括：
    获取请求指令，所述请求指令包括托运行李指令或领取行李指令。
  12. 根据权利要求1-11中任一项所述的行李运输的方法，其特征在于，所述方法还包括：
    获取来自所述目标机器人的运输数据；
    根据所述运输数据生成运输反馈信息；
    将所述反馈信息以预设的形式发送给所述旅客。
  13. 一种行李运输的方法，其特征在于，所述方法包括：
    接收控制指令；
    基于所述控制指令获持对应的行李；
    基于所述控制指令将所述行李从起始位置运输到目标位置。
  14. 根据权利要求13所述的行李运输的方法，其特征在于，
    所述控制指令包括：所述行李对应的行李信息和/或旅客信息、所述 行李的起始位置和目标位置中的一个或多个。
  15. 根据权利要求13所述的行李运输的方法，其特征在于，所述基于所述控制指令获持对应的行李的步骤具体包括：
    基于所述行李信息和/或旅客信息，识别所述行李；
    获取所述行李的位姿；
    基于所述行李的位姿，获持所述行李。
  16. 根据权利要求13所述的行李运输的方法，其特征在于，所述基于所述控制指令将所述行李从起始位置运输到目标位置的步骤之前还包括：根据所述行李的起始位置和/或目标位置，规划运输路线。
  17. 根据权利要求15所述的行李运输的方法，其特征在于，所述基于所述行李的位姿，获持所述行李具体包括：
    获取来自获持机器人的所述行李。
  18. 根据权利要求13所述的行李运输的方法，其特征在于，所述方法还包括：发送所述运输的运输数据，该运输数据用于反馈所述行李的运输详情。
  19. 一种行李运输的方法，其特征在于，所述方法包括：
    接收获持行李指令；
    基于所述获持行李指令获持对应的行李；
    将所述行李放置至目标机器人，以由所述目标机器人将所述行李从目标机器人当前的初始位置运输至目标位置。
  20. 根据权利要求19所述的行李运输的方法，其特征在于，所述获持行李指令包括：行李信息；所述基于所述获持行李指令获持对应的行李的步骤具体包括：
    基于所述行李信息和/或旅客信息，识别所述行李；
    识别所述行李的位姿；
    基于所述行李的位姿，获持所述行李，以完成对所述行李的运输。
  21. 一种运输系统，其特征在于，所述系统包括：处理单元，与所述处理单元相互耦接的信息获取单元和目标机器人；其中，所述信息获取单元用以获得行李信息和/或旅客信息；所述处理单元用于获取所述行李 信息和/或旅客信息，利用所述行李信息和/或所述旅客信息确认所述行李的起始位置和目标位置；所述目标机器人用于根据所述行李信息和/或所述旅客信息，将所述行李从所述起始位置运输到所述目标位置。
  22. 根据权利要求21所述的运输系统，其特征在于，所述系统还包括预设的辅助获持行李装置，所述辅助获持行李装置与所述目标机器人和/或所述处理单元耦接，用以辅助完成对所述行李的运输。
  23. 根据权利要求21所述的运输系统，其特征在于，所述系统还包括与所述处理单元耦接的终端设备，所述终端设备用于获得所述行李信息和/或旅客信息或发送所述行李信息和/或旅客信息至所述处理单元。
  24. 一种机器人，其特征在于，所述机器人包括：处理器，分别与所述处理器耦合的存储器和接口电路；其中，所述处理器根据调用所述存储器内的计算机程序以及调用所述接口电路，执行如权利要求1～20任一项所述的方法。
  25. 根据权利要求24所述的机器人，其特征在于，所述机器人还包括：机械臂和/或移动底盘，所述移动底盘用于配合所述处理器执行移动以完成运输，所述机械臂用于配合所述处理器执行获持与放置所述行李。
  26. 一种终端设备，其特征在于，所述终端设备包括：
    处理器、存储器以及存储在所述储存器上的计算机程序，所述处理器耦合所述存储器，所述处理器在工作时执行所述计算机程序以实现如权利要求1～12任一项所述的方法。
  27. 根据权利要求26所述的终端设备，其特征在于，所述终端设备还包括：信息获取单元，用于获得行李信息和/或旅客信息。
  28. 一种存储介质，其特征在于，所述存储介质存储有程序数据，所述程序数据被执行时实现如权利要求1～20任一项所述的方法。
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CN112132482A (zh) * 2020-09-30 2020-12-25 青岛通产智能科技股份有限公司 一种机场行李智能提取系统
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