CN111862350A - Online boxing method, terminal and storage medium - Google Patents
Online boxing method, terminal and storage medium Download PDFInfo
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- CN111862350A CN111862350A CN202010685849.2A CN202010685849A CN111862350A CN 111862350 A CN111862350 A CN 111862350A CN 202010685849 A CN202010685849 A CN 202010685849A CN 111862350 A CN111862350 A CN 111862350A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2004—Aligning objects, relative positioning of parts
Abstract
The application relates to an online boxing method, a terminal and a storage medium. The method comprises the following steps: acquiring a first size of a box for executing a boxing task, an occupied space of an article to be boxed and an occupied space of the article in the box, and acquiring a placeable space of the article to be boxed according to the first size, the occupied space and the occupied space; determining a target placing space of the articles to be boxed in at least one placeable space according to the first projection distance; acquiring a target placing posture corresponding to the target placing space so that the articles to be boxed are placed in the target placing space in the target placing posture; wherein the placeable space is the same as the occupied space. The target placing space and the corresponding target placing posture of the articles to be boxed are calculated according to the occupied space of the articles to be boxed, so that the number of the boxes to be used is saved as much as possible, and the article transportation cost is saved.
Description
Technical Field
The application belongs to the technical field of online boxing, and particularly relates to an online boxing method, a terminal and a storage medium.
Background
So-called boxing, i.e. the "boxing" of fixed size is used to pack given articles of different sizes. So-called online, that is, the size information of an item can only be obtained when it arrives, and any information of future items cannot be obtained in advance. Two-dimensional boxing, namely the sizes of boxes and articles are two-dimensional, and news typesetting, cloth cutting and the like are applied. Three-dimensional packing such as actual logistics package packing and the like. The high-dimensional packing has very wide application in the field of data mining.
In a common boxing scenario, boxes are ordered in batches empirically in advance, are known in size and are sufficient in number; the articles are in various sizes, and the size information of the articles can be obtained (through a vision machine) only when the articles are conveyed to a packing area, the articles are conveyed to the packing area through a conveyor belt, but source goods of the conveyor belt can be multi-channel, the articles are conveyed to a convention area through respective conveyor belts, are collected to one conveyor belt and then are conveyed to the packing area, and the difficulty in obtaining the conveying sequence information of all the articles in each channel is extremely high in the scene. Therefore, it is necessary to provide a proper packing algorithm to calculate the proper placement position of the current article in the box in real time at the time of arrival of the article, so as to save the number of the used boxes as much as possible and save the cost of cargo transportation.
Disclosure of Invention
The application provides an online boxing method, a terminal and a storage medium, and aims to solve at least one of the technical problems in the prior art to a certain extent.
In order to solve the above problems, the present application provides the following technical solutions:
an online boxing method, the method comprising:
acquiring a first size of a box for executing a boxing task, an occupied space of an article to be boxed and an occupied space of the article in the box, and acquiring a placeable space of the article to be boxed according to the first size, the occupied space and the occupied space;
determining a target placing space of the to-be-packed objects in at least one placeable space according to a first projection distance, wherein the first projection distance is the length of a projection of a first vector on a second vector, the first vector is a vector from a first preset vertex of the box to a second preset vertex of the placeable space or a vector from the second preset vertex to the first preset vertex, and the second vector is a vector from the first preset vertex to a third preset vertex of the box or a vector between the third preset vertex and the first preset vertex;
Acquiring a target placing posture corresponding to the target placing space so that the articles to be boxed are placed in the target placing space in the target placing posture;
wherein the placeable space is the same as the occupied space.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the method for acquiring the placeable space of the to-be-boxed article according to the first size, the occupied space and the occupied space comprises the following steps:
acquiring a second size of the article, and acquiring the occupied space corresponding to the article according to the second size;
wherein the occupied space is a minimum rectangular parallelepiped space that does not interfere with the article when accommodating the article.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the acquiring the placeable space of the to-be-boxed article according to the first size, the occupied space and the occupied space comprises:
when the placing space consistent with the occupied space meets a first preset condition and a second preset condition, determining that the placing space is a placeable space;
wherein the first preset condition is as follows:
any vertex of the placing space is positioned in the box, and any vertex of the placing space is not positioned in the occupied space;
The second preset condition is as follows:
the bottom surface of the placing space is parallel to the bottom surface of the box; and the number of the first and second electrodes,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or four vertexes of the bottom surface of the placing space are all arranged on one plane of the occupied space.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the acquiring the placeable space of the to-be-boxed article according to the first size, the occupied space and the occupied space comprises:
when the placing space consistent with the occupied space simultaneously meets the first preset condition, the second preset condition and the third preset condition, determining that the placing space is a placeable space;
wherein the third preset condition is:
the first vertex position of the placing space is a preset target point, the first vertex is a vertex of the placing space closest to the first preset vertex of the box, and the preset target point is a point which has the largest distance from the occupied space to the preset vertex in the X direction but the smallest distance from the occupied space to the preset vertex in the Y direction and the Z direction, or a point which has the largest distance from the occupied space to the preset vertex in the Y direction but the smallest distance from the occupied space to the preset vertex in the X direction and the Z direction, or a point which has the largest distance from the preset vertex in the Z direction but the smallest distance from the preset vertex in the X direction and the Y direction.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the determining the target placing space of the to-be-boxed article in at least one placeable space according to the first projection distance comprises the following steps:
acquiring first projection distances respectively corresponding to the swingable air spaces;
taking the placeable space with the minimum corresponding first projection distance as the target placement space;
the third preset vertex is the vertex which is farthest from the first preset vertex in the vertexes of the box, and the second preset vertex is the vertex which is farthest from the first preset vertex in the vertexes of the placeable space.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the determining the target placing space of the to-be-boxed article in at least one placeable space according to the first projection distance comprises the following steps of:
acquiring the current posture of the article to be boxed, and acquiring the placeable posture of the article with the box according to the current posture;
and screening each placeable space according to the placeable postures, and reserving at least one placeable space matched with the placeable postures.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the acquiring of the target placing posture corresponding to the target placing space includes:
And taking the corresponding object posture when the occupied space is superposed with the target placing space as the target placing posture.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the placing of the articles to be boxed to the optimal placing position further comprises: updating the set of loaded items and all locations in the box where new items can be placed.
The embodiment of the application adopts another technical scheme that: a terminal comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the online binning method;
the processor is configured to execute the program instructions stored by the memory to control online binning.
The embodiment of the application adopts another technical scheme that: a storage medium storing program instructions executable by a processor for performing the online binning method.
Compared with the prior art, the embodiment of the application has the advantages that: according to the online boxing method, the terminal and the storage medium, the target placing space and the corresponding target placing posture of the object to be boxed are calculated according to the occupied space of the object to be boxed, and the proper placing position can be obtained in real time when the object arrives, so that the number of boxes is saved as much as possible, and the object transportation cost is saved.
Drawings
FIG. 1 is a flow chart of an online binning method according to an embodiment of the present application;
FIG. 2 is a schematic view of a vector projection according to an embodiment of the present application;
FIG. 3 is a schematic diagram of 3 three-dimensional row vectors newly added during a Cand update according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a terminal provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a storage medium provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Please refer to fig. 1, which is a flowchart illustrating an online boxing method according to an embodiment of the present application. The online boxing method comprises the following steps:
step 100: acquiring a first size of a box for executing a boxing task, an occupied space of an article to be boxed and an occupied space of the article in the box, and acquiring a placeable space of the article to be boxed according to the first size, the occupied space and the occupied space;
in particular, the first dimension comprises the length, width, height of the box.
The occupied space of the article is a minimum cuboid space which does not interfere with the article when the article is contained, assuming that the length, width and height of a box for carrying out a boxing task are respectively represented by A, B and C, namely the first size of the box, one vertex of the bottom surface of the box is arbitrarily selected as an origin (namely a point with a coordinate of [ 000 ]), and a horizontal axis, a vertical axis and a vertical axis of a Cartesian coordinate system are established along the sides of the box from the origin. Suppose that the length, width and height of the article to be packed are respectively represented by a, b and c, that is, the article with the second size is placed at the position [ x, y and z ] in the box in the posture [ a, b and c ], that is, the occupied space of the article is represented as: occupying the [ x, x + a ] interval of the horizontal axis, the [ y, y + b ] interval of the vertical axis and the [ z, z + c ] interval of the vertical axis of the box. It can be understood that the gesture [ ab c ] may also be height, length, width, etc. since the robotic arm needs to rotate the item accordingly as the case may be when placing it.
Specifically, for ease of illustration, the embodiments of the present application use a six-dimensional array (hereafter referred to as items) to indicate the occupied space of the loaded items in the box. The six-dimensional array items is a matrix with n rows and six columns, wherein n represents the number of articles placed in the current box, and each row represents the position space occupied by one article; the format of the six-dimensional array is [ horizontal axis initial value, horizontal axis end value, vertical axis initial value, vertical axis end value ], and it can be understood that the recording order of each value in the six-dimensional row vector can be arbitrarily adjusted. When a new box is opened, the initial items is [ 000000 ]. If items is [ 010203; 120101 ], then two items are present in the box, respectively: an article with a horizontal axis, a vertical axis and a vertical axis respectively 1, 2 and 3 is placed at the position [ 000 ], and an article with a horizontal axis, a vertical axis and a vertical axis respectively 2, 1 and 1 is placed at the position [ 100 ]. Of course, as will be understood by those skilled in the art, as other implementations of the present invention, other ways to record the occupied space may be adopted, for example, obtaining the size of each loaded article, constructing a corresponding three-dimensional model, and the like.
Specifically, the method for acquiring the swingable empty space of the article to be boxed according to the first size, the occupied space and the occupied space further comprises the following steps:
and acquiring a second size of the article, and acquiring the occupied space corresponding to the article according to the second size.
Specifically, the second size of the article includes, but is not limited to, the length of each side of the article, and the like, and a minimum rectangular parallelepiped space that does not interfere with the article when the article is accommodated can be obtained according to the second size of the article.
The acquiring the swingable empty space of the to-be-boxed article according to the first size, the occupied space and the occupied space further comprises:
the size of the placeable space is consistent with that of the occupied space; when the placing space consistent with the occupied space meets a first preset condition and a second preset condition, determining that the placing space is a placeable space;
wherein the first preset condition is as follows:
any vertex of the placing space is located inside the box, and any vertex of the placing space is not located inside the occupied space.
Specifically, the length, width and height of a box for performing a packing task, i.e., a first dimension of the box, may be represented by a, B and C, respectively, a vertex of a bottom surface of the box is selected as an origin (i.e., a point having a coordinate of [ 000 ]), and a horizontal axis, a vertical axis and a vertical axis of a cartesian coordinate system are established along sides of the box from the origin.
When judging whether the placing space consistent with the size of the occupied space is the placeable emptying time, the placing space consistent with the size of the occupied space can be identified by using an array item, and the item has the following pattern: for example, assuming that a, b, and c respectively represent the length, width, and height of the article to be boxed, i.e., the second dimension parameter of the article to be boxed, and [ x a, y, z ] represents the placing space with (x, y, z) as the vertex, a dimension of the horizontal axis, a dimension of the vertical axis, and a dimension of the vertical axis, as b, and a dimension of the vertical axis, as c.
When determining whether the placing space [ x a y B z C ] is a placeable space, determining whether x + a < (A, y + B) < ═ B and z + C < (C) are both true, and if true, determining that any vertex of the placing space is inside the box.
Judging whether the placing space is a placeable space or not according to the array items representing the occupied space, for example: executing items ═ 010101; 021302 ] (where items indicate that two items are currently placed in the box, the placing spaces respectively correspond to a space with [ 000 ] as the vertex and with the dimensions of the horizontal axis, the vertical axis and the vertical axis being 1, 1 and a space with the dimensions of the horizontal axis, the vertical axis and the vertical axis being 2, 3 and 2 respectively with [ 010 ] as the vertex, and item of the placing space is [ 130202 ]), then it is determined that both the two vertices [ 020 ] and [ 022 ] of the placing space are located inside the occupied space of the second item in the items, indicating that the placing space conflicts with the occupied space, and the first preset condition is not satisfied.
The second preset condition is as follows:
the bottom surface of the placing space is parallel to the bottom surface of the box; and the number of the first and second electrodes,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or four vertexes of the bottom surface of the placing space are all arranged on one plane of the occupied space.
When the placing space meets the second preset condition, the object to be boxed can be kept balanced after being placed in the placing space.
As can be seen from the foregoing description, in the case where the occupied space occupies only a small portion of the box, there are a plurality of placement spaces that satisfy the first preset condition and the second preset condition and are consistent with the size of the occupied space of the article to be boxed, and in one possible implementation, for convenience of subsequent calculation, the number of alternative placeable spaces for determining the final placement position of the article to be boxed is reduced, and a third preset condition is further set.
When the placing space consistent with the occupied space simultaneously meets the first preset condition, the second preset condition and the third preset condition, determining that the placing space is a placeable space;
Wherein the third preset condition is:
the first vertex position of the placing space is a preset target point, and the preset target point is a point which has the largest distance from each vertex of the occupied space to the preset vertex of the box in the X direction but has the smallest distance from the preset vertex to the Y direction and the Z direction, or a point which has the largest distance from the preset vertex to the Y direction but has the smallest distance from the preset vertex to the X direction and the Z direction, or a point which has the largest distance from the preset vertex to the Z direction but has the smallest distance from the preset vertex to the X direction and the Y direction.
The first vertex is the vertex of the placing space closest to the preset vertex of the box, and the preset vertex of the box is the origin of a coordinate system; that is, when the vertex of the placement space closest to the point [ 000 ] is the point with the largest distance in the X direction but the smallest distance in the Y direction and the Z direction from the preset vertex of the box, or the point with the largest distance in the Y direction but the smallest distance in the X direction and the Z direction from the preset vertex, or the point with the largest distance in the Z direction but the smallest distance in the X direction and the Y direction from the preset vertex, among the vertices of the occupied space, the placement space is determined to be the placeable space. Specifically, the preset target point is denoted by cand, if cand ═ 100; 020; 003 ], said first vertex representing placeable space is only one of [ 100 ], [ 020 ] or [ 003 ], and when a new box is opened, i.e. said occupied space in said box is 0, the initial cand is [ 000 ], which means that said article to be boxed can only be placed at the origin of said box.
It can be seen that when the placeable space corresponding to the article to be boxed meets the third preset condition, the placeable space is defined to be adjacent to the article already loaded in the box, so that the number of the placeable space is limited, and the calculation amount for determining the target placement space in the placeable space subsequently is reduced. Referring again to fig. 1, the online boxing method further includes:
step 200: determining a target placing space of the articles to be boxed in at least one placeable space according to the first projection distance;
the first projection distance is the length of the projection of a first vector on a second vector, the first vector is the vector from a first preset vertex of the box to a second preset vertex of the placeable space or the vector from the second preset vertex to the first preset vertex, the second vector is the vector from the first preset vertex to a third preset vertex of the box or the vector from the third preset vertex to the first preset vertex, the third preset vertex is the vertex farthest from the first preset vertex in the vertex of the box, and the second preset vertex is the vertex farthest from the first preset vertex in the vertex of the placeable space.
Specifically, determining the target placing space of the to-be-boxed article in the at least one placeable space according to the first projection distance includes:
acquiring first projection distances respectively corresponding to the swingable air spaces;
and taking the corresponding placeable space with the minimum first projection distance as the target placement space.
Assuming that dimensions of a box performing a boxing task are B1、B2、…、BnThe vector projection is as shown in fig. 2, and the line B part is a three-dimensional vector a (B) when the vector B is equal to (B)1、B2、B3) The length of the projection is the projection distance, and the calculation formula of the projection distance is as follows:
where θ is the angle between vectors a and b, aiIs the i-th coordinate of the vector a.
In practical applications, a mechanical arm may be used to place the to-be-boxed item, and a rotatable mechanical arm may be used to rotate the to-be-boxed item, for example, a three-axis rotatable mechanical arm may be used to rotate the to-be-boxed item in three directions of XYZ, so that the to-be-boxed item may be supported to be converted into three postures, and a partially-rotated mechanical arm, for example, a horizontal rotating mechanical arm, may only achieve the exchange of length and width of the item, but may not invert or place the item (may not change the length of the vertical axis of the item), in which case, the placing posture of the to-be-boxed item is limited, so that, in one possible implementation, before determining the target placing space of the to-be-boxed item in at least one of the placeable spaces according to the first projection distance, further includes:
Acquiring the current posture of the article to be boxed, and acquiring the placeable posture of the article with the box according to the current posture;
screening each placeable space according to the placeable postures, and reserving at least one placeable space matched with the placeable postures; wherein, the size of the placeable space is consistent with that of the occupied space.
The length, the width and the height of the article to be boxed are respectively represented by a, b and c, namely the second size parameter of the article, the posture of the article to be boxed can be identified by a three-dimensional array, and the format of the three-dimensional array representing the posture is as follows: for example, the posture of the article to be boxed is [ a b c ], and then the article to be boxed occupies the [ x, x + a ] interval of the horizontal axis, the [ y, y + b ] interval of the vertical axis, and the [ z, z + c ] interval of the vertical axis after being placed in the box in the current posture. It can be understood that the gesture [ a b c ] may also be high, long, wide, etc. since the robotic arm needs to rotate the item accordingly as the case may be when placing it. For example, the current posture of the article to be boxed is [ 324 ], and the mechanical arm for boxing the article to be boxed only supports horizontal rotation, that is, only the length and width of the article can be exchanged, but the article cannot be turned upside down or laid down (the vertical axis length of the article cannot be changed), so that the placeable postures of the article to be boxed are [ 324 ], [ 234 ].
After the placeable postures are obtained, the placeable space corresponding to the placeable postures may be obtained, for example, when the placeable postures are [ 324 ], [ 234 ], the corresponding placeable spaces between the placeable spaces have a length of 3, a width of 2, and a height of 4, and the placeable spaces have a length of 2, a width of 3, and a height of 4.
Step 300: and acquiring a target placing posture corresponding to the target placing space, so that the articles to be boxed are placed in the target placing space in the target placing posture.
Specifically, the obtaining of the target placement posture corresponding to the target placement space further includes:
and taking the corresponding object posture when the occupied space is superposed with the target placing space as the target placing posture.
Further, the target placing posture is an article posture corresponding to the occupied space and the target placing space when the occupied space and the target placing space are overlapped.
Specifically, after the object to be boxed is placed in the target placing space in the target placing posture, the method further comprises:
updating the occupied space.
After the target placing posture corresponding to the target placing space is obtained, the mechanical arm can be controlled to place the object to be boxed in the target placing posture to the target placing space and update the occupied space, wherein the occupied space updating process comprises the following steps: and newly adding six-dimensional row vectors in a uniform format in the six-dimensional array items to record the target placing space, namely, newly adding one row in the items according to the format of [ the initial value of the horizontal axis of the placing space, the size of the horizontal axis of the placing space, the initial value of the vertical axis of the placing space, the size of the vertical axis of the placing space, the initial value of the vertical axis of the placing space, and the size of the vertical axis of the placing space ].
Further, when an implementation mode that whether a placing space is a placeable space is determined by simultaneously meeting the first preset condition and the second preset condition is adopted, after the articles to be boxed are placed in the target placing space in the target placing posture, 3 three-dimensional row vectors can be newly added in a three-dimensional array cand, and all positions of the placeable new articles are updated; the 3 three-dimensional row vectors are 3 of 8 vertexes of the newly added article, and are respectively as follows: the point with the largest horizontal axis coordinate but the smallest vertical axis coordinate, the point with the largest vertical axis coordinate but the smallest horizontal axis coordinate and the smallest vertical axis coordinate, and the point with the largest vertical axis coordinate but the smallest horizontal axis coordinate and the smallest vertical axis coordinate. The 3 three-dimensional row vectors newly added during the Cand update are specifically shown as 3 points in fig. 3.
Based on the above, the online boxing method provided by the embodiment of the application calculates the target placing space and the corresponding target placing posture of the to-be-boxed object according to the occupied space of the to-be-boxed object, and can realize real-time acquisition of a proper placing position when the object arrives, so that the number of boxes used is saved as much as possible, and the transportation cost of the object is saved.
Please refer to fig. 4, which is a schematic diagram of a terminal structure according to an embodiment of the present application. The terminal 50 comprises a processor 51, a memory 52 coupled to the processor 51.
The memory 52 stores program instructions for implementing the online binning method described above.
The processor 51 is operative to execute program instructions stored in the memory 52 to control online binning.
The processor 51 may also be referred to as a CPU (Central Processing Unit). The processor 51 may be an integrated circuit chip having signal processing capabilities. The processor 51 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Please refer to fig. 5, which is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 61 capable of implementing all the methods described above, where the program file 61 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An online boxing method, characterized in that the method comprises:
acquiring a first size of a box for executing a boxing task, an occupied space of an article to be boxed and an occupied space of the article in the box, and acquiring a placeable space of the article to be boxed according to the first size, the occupied space and the occupied space;
determining a target placing space of the to-be-packed objects in at least one placeable space according to a first projection distance, wherein the first projection distance is the length of a projection of a first vector on a second vector, the first vector is a vector from a first preset vertex of the box to a second preset vertex of the placeable space or a vector from the second preset vertex to the first preset vertex, and the second vector is a vector from the first preset vertex to a third preset vertex of the box or a vector between the third preset vertex and the first preset vertex;
Acquiring a target placing posture corresponding to the target placing space so that the articles to be boxed are placed in the target placing space in the target placing posture;
wherein the placeable space is the same as the occupied space.
2. The on-line boxing method as recited in claim 1, wherein the obtaining of the placeable space of the to-be-boxed item according to the first size, the occupied space and the occupied space comprises:
acquiring a second size of the article, and acquiring the occupied space corresponding to the article according to the second size;
wherein the occupied space is a minimum rectangular parallelepiped space that does not interfere with the article when accommodating the article.
3. The on-line boxing method as recited in claim 1, wherein the obtaining of the placeable space of the to-be-boxed item according to the first size, the occupied space and the occupied space comprises:
when the placing space consistent with the occupied space meets a first preset condition and a second preset condition, determining that the placing space is a placeable space;
wherein the first preset condition is as follows:
Any vertex of the placing space is positioned in the box, and any vertex of the placing space is not positioned in the occupied space;
the second preset condition is as follows:
the bottom surface of the placing space is parallel to the bottom surface of the box; and the number of the first and second electrodes,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or four vertexes of the bottom surface of the placing space are all arranged on one plane of the occupied space.
4. The on-line boxing method as recited in claim 3, wherein the obtaining of the placeable space of the to-be-boxed item according to the first size, the occupied space and the occupied space comprises:
when the placing space consistent with the occupied space simultaneously meets the first preset condition, the second preset condition and the third preset condition, determining that the placing space is a placeable space;
wherein the third preset condition is:
the first vertex position of the placing space is a preset target point, the first vertex is a vertex of the placing space closest to the first preset vertex of the box, and the preset target point is a point which has the largest distance from the occupied space to the preset vertex in the X direction but the smallest distance from the occupied space to the preset vertex in the Y direction and the Z direction, or a point which has the largest distance from the occupied space to the preset vertex in the Y direction but the smallest distance from the occupied space to the preset vertex in the X direction and the Z direction, or a point which has the largest distance from the preset vertex in the Z direction but the smallest distance from the preset vertex in the X direction and the Y direction.
5. The on-line boxing method as claimed in claim 1, wherein the determining the target placing space of the to-be-boxed item in the at least one placeable space according to the first projection distance comprises:
acquiring first projection distances respectively corresponding to the swingable air spaces;
taking the placeable space with the minimum corresponding first projection distance as the target placement space;
the third preset vertex is the vertex which is farthest from the first preset vertex in the vertexes of the box, and the second preset vertex is the vertex which is farthest from the first preset vertex in the vertexes of the placeable space.
6. The on-line boxing method as claimed in claim 1, wherein the determining the target placing space of the to-be-boxed item in the at least one placeable space according to the first projection distance comprises:
acquiring the current posture of the article to be boxed, and acquiring the placeable posture of the article with the box according to the current posture;
and screening each placeable space according to the placeable postures, and reserving at least one placeable space matched with the placeable postures.
7. The on-line boxing method of claim 6, wherein the obtaining of the target pose corresponding to the target pose space comprises:
and taking the corresponding object posture when the occupied space is superposed with the target placing space as the target placing posture.
8. The on-line boxing method as claimed in any one of claims 1 to 7, wherein the step of placing the object to be boxed in the target placing posture in the target placing space further comprises: updating the occupied space.
9. A terminal, comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the online binning method of any of claims 1-8;
the processor is configured to execute the program instructions stored by the memory to control online binning.
10. A storage medium storing program instructions executable by a processor to perform the online binning method of any of claims 1 to 8.
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| WO2022011981A1 (en) | 2022-01-20 |
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