CN111882270B - Online boxing method, terminal and storage medium - Google Patents
Online boxing method, terminal and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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 loaded 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 packaged in at least one of the placing spaces according to the vertex positions of the placing spaces; 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 size of the placeable space is consistent with that of the occupied space. The number of boxes used can be saved as much as possible, and the cost of transporting articles is saved.
Description
Technical Field
The application belongs to the technical field of boxing, and particularly relates to an online boxing method, a terminal and a storage medium.
Background
In the logistics industry, there is often a problem of cargo loading, under some logistics scenes, such as shipping by adopting containers for transportation, there is a case that only one size of cargo is stored in one cargo container, and when each cargo is loaded, the size of the cargo to be loaded is known, then calculation can be performed in advance, so that one container can be loaded with as many cargoes as possible, however, in some small logistics scenes, such as small express delivery by adopting a box-type truck for transportation, the size of each cargo is different, and the size of all cargoes cannot be known in advance, but the corresponding placement position is manually selected when each cargo is loaded. The placement of the cargo in the box directly affects how much cargo the box can carry. At present, no boxing method for automatically calculating the placing position of cargoes in scenes with different sizes of cargoes exists.
Therefore, it is necessary to provide a new solution to calculate in real time the proper placement position of the articles to be boxed in the boxes at the moment of arrival of the articles, so as to save the number of boxes used as much as possible and save the cost of transporting the goods.
Disclosure of Invention
The application provides an online boxing method, a terminal and a storage medium, which aim to solve one of the technical problems in the prior art at least to a certain extent.
In order to solve the above problems, the present application provides the following technical solutions:
an on-line boxing method comprising the steps of:
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 loaded 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 packaged in at least one of the placing spaces according to the vertex positions of the placing spaces;
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 size of the placeable space is consistent with that of the occupied space.
The technical scheme adopted by the embodiment of the application further comprises: the method for obtaining the placeable space of the articles to be boxed according to the first size, the occupied space and the occupied space comprises the following steps:
acquiring a second size of the article to be boxed, and acquiring the occupied space corresponding to the article to be boxed according to the second size;
the occupied space is the smallest cuboid space which does not interfere with the articles to be boxed when the articles to be boxed are contained.
The technical scheme adopted by the embodiment of the application further comprises: the obtaining the placeable space of the article to be boxed according to the first size, the occupied space and the occupied space comprises:
when the placing space with the same size as the occupied space meets the first preset condition and the second preset condition at the same time, determining the placing space as a placing space;
wherein, the first preset condition is:
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:
the bottom surface of the placement space is parallel to the bottom surface of the box; and, in addition, the processing unit,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or on a plane of the occupied space.
The technical scheme adopted by the embodiment of the application further comprises: the obtaining the placeable space of the article to be boxed according to the first size, the occupied space and the occupied space comprises:
when the placing space with the same size as the occupied space meets the first preset condition, the second preset condition and the third preset condition at the same time, determining the placing space as a placing space;
wherein, the third preset condition is:
the first vertex position of the placement space is a preset target point, the first vertex is the vertex closest to the preset vertex of the box in the placement space, and the preset target point is the point with the largest X-direction distance and the smallest Y-direction distance from the preset vertex of the box or the point with the largest Y-direction distance and the smallest X-direction distance and the smallest Z-direction distance from the preset vertex or the point with the largest Z-direction distance and the smallest X-direction distance and the smallest Y-direction distance from the preset vertex in each vertex of the occupied space.
The technical scheme adopted by the embodiment of the application further comprises: the determining the target placement space of the articles to be packaged in at least one of the placeable spaces according to the vertex positions of the placeable spaces comprises:
obtaining the distance between the target vertex of each placeable space and the preset vertex of the box;
taking a placeable space with the minimum distance between a target vertex and the preset vertex as the target placement space;
the target vertexes are among vertexes of the placing space, and the distance between the vertexes and the preset vertexes is largest.
The technical scheme adopted by the embodiment of the application further comprises: the step of determining the target placing space of the articles to be packaged in at least one placing space according to the vertex positions of the placing spaces comprises the following steps:
acquiring the current gesture of the article to be boxed, and acquiring the placeable gesture of the article to be boxed according to the current gesture;
and screening each placeable space according to the placeable gesture, and reserving at least one placeable space matched with the placeable gesture.
The technical scheme adopted by the embodiment of the application further comprises: the obtaining the target placement posture corresponding to the target placement space comprises the following steps:
and taking the object gesture corresponding to the coincidence of the occupied space and the target placing space as the target placing gesture.
The technical scheme adopted by the embodiment of the application further comprises: the step of obtaining the target placement posture corresponding to the target placement space further comprises the following steps: and updating the occupied space.
The embodiment of the application adopts the following technical scheme: a terminal comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the online boxing method;
the processor is configured to execute the program instructions stored by the memory to control on-line boxing.
The embodiment of the application adopts the following technical scheme: a storage medium storing program instructions executable by a processor for performing the online boxing method.
Compared with the prior art, the beneficial effect that this application embodiment produced lies in: according to the online boxing method, terminal and storage medium, the target placement space and the corresponding target placement posture of the objects to be boxed are calculated through the occupied space of the objects, and the proper placement positions can be obtained in real time when the objects arrive, so that the number of boxes is saved as much as possible, and the transportation cost of the objects is saved.
Drawings
FIG. 1 is a flow chart of an online boxing method of embodiments of the present application;
FIG. 2 is a schematic diagram of 3 three-dimensional row vectors that are newly added during Cand update;
fig. 3 is a schematic structural diagram of a terminal provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a storage medium according to 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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, a flowchart of an online boxing method according to an embodiment of the present application is shown. The online boxing method of the embodiment of the application comprises the following steps of:
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 a length, a width, a height of the box. Specifically, for ease of illustration, embodiments of the present application use a six-dimensional array (hereinafter item identification) to represent the occupied space of the items in the bin. The six-dimensional array items is a matrix of n rows and six columns, wherein n represents the number of the articles placed in the current box, and each row represents a placement space corresponding to one placed article; and (3) arbitrarily selecting one vertex of the bottom surface of the box as an origin (namely, a point with the coordinate of 0 0), and establishing a transverse axis, a longitudinal axis and a vertical axis of a Cartesian coordinate system along the edge of the box from the origin, wherein the format of each row of the six-dimensional array is [ the transverse axis starting value of the placement space, the transverse axis size of the placement space, the longitudinal axis starting value of the placement space, the longitudinal axis size of the placement space, the vertical axis starting value of the placement space and the vertical axis size of the placement space ], and the recording sequence of each value in the six-dimensional row vector can be arbitrarily adjusted. When a new bin is opened, the initial items= [ 00 00 00 ]. If the item is [01 0 20 3; 120 10 1], it indicates that two articles have been placed in the box, and the placement spaces respectively corresponding to the two articles are: space with [ 00 ] as vertex, with transverse axis dimension, longitudinal axis and vertical axis dimension of 1, 2,3, respectively, and space with [ 10 ] as vertex, with transverse axis dimension, longitudinal axis and vertical axis dimension of 2, 1, respectively. The occupied space is formed by the placing spaces of all the placed articles. Of course, those skilled in the art will appreciate that, as other implementations of the present invention, other ways of recording the occupied space may be used, for example, obtaining the size of each loaded article, constructing a corresponding three-dimensional model, etc.
Specifically, the obtaining the placeable space of the articles to be boxed according to the first size, the occupied space and the occupied space further includes:
and acquiring a second size of the article to be boxed, and acquiring the occupied space corresponding to the article to be boxed according to the second size.
Specifically, the second dimension of the article to be boxed includes, but is not limited to, the length of each side of the article to be boxed, and the like, and the smallest cuboid space which does not interfere with the article when the article to be boxed is accommodated can be obtained according to the second dimension of the article to be boxed.
The obtaining the placeable space of the article to be boxed according to the first size, the occupied space and the occupied space further comprises:
the size of the placing space is consistent with that of the occupied space; when the placing space with the same size as the occupied space meets the first preset condition and the second preset condition at the same time, determining the placing space as a placing space;
wherein, the first preset condition is:
any vertex of the placing space is inside the box, and any vertex of the placing space is not inside the occupied space.
Specifically, a, B, and C may be used to represent the length, width, and height, respectively, of a box performing a boxing task, i.e., a first dimension of the box, selecting a vertex of the bottom surface of the box as an origin (i.e., a point having a coordinate of [ 00 ] 0'), and establishing a horizontal axis, a vertical axis, and a vertical axis of a cartesian coordinate system along sides of the box from the origin.
When judging whether the placement space with the same size as the occupied space is a placeable space, the placement space with the same size as the occupied space can be identified by using an array item, wherein the item patterns are as follows: for example, it is assumed that a, b, c respectively represent the length, width, and height of the article to be boxed, that is, the second dimension parameter of the article to be boxed, [ x a, y, b, c ] represents a placement space with (x, y, z) as a vertex, a transverse axis dimension a, b longitudinal axis dimension b, and c.
When judging whether the placing space [ x a y B z C ] is a placing space, judging whether x+a < = A, y +b < = B and z+c < = C are all established, and if so, any vertex of the placing space is in the box.
Judging whether the placing space is a placing space or not according to an array item representing the occupied space, for example: executing the bins of items= [01 01 0 1;0 2 1 3 0 2 (the item represents that two objects are currently placed in the box, the corresponding placement space is a space with [ 00 ] as an apex, the horizontal axis size, the vertical axis size and the vertical axis size being 1, 1 and 1 respectively and a space with [01 0] as an apex, the horizontal axis size, the vertical axis size and the vertical axis size being 2,3 and 2 respectively), and the item= [1 3 0 20 2 ]) of the placement space is determined, both the two apexes [0 20 ] and [0 2] of the placement space are in the occupied space of the second object in the item, and the placement space is shown to collide with the occupied space and does not meet the first preset condition.
The second preset condition is:
the bottom surface of the placement space is parallel to the bottom surface of the box; and, in addition, the processing unit,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or on a plane of the occupied space.
When the placing space meets the second preset condition, the object to be boxed is stated to be placed in the placing space and then can be kept balanced.
As can be seen from the foregoing description, in the case where the occupied space occupies only a small portion of the box, there may be a plurality of placement spaces having the same size as the occupied space of the article to be packaged, which satisfy the first preset condition and the second preset condition, in one possible implementation manner, in order to facilitate subsequent calculation, a third preset condition is further set to reduce the number of alternative placement spaces for determining the final placement position of the article to be packaged.
When the placing space with the same size as the occupied space meets the first preset condition, the second preset condition and the third preset condition at the same time, determining the placing space as a placing space;
wherein, the third preset condition is:
the first vertex position of the placement space is a preset target point, and the preset target point is a point with the largest X-direction distance from the preset vertex of the box and the smallest Y-direction distance from the preset vertex or a point with the largest X-direction distance from the preset vertex and the smallest Z-direction distance from the preset vertex or a point with the largest X-direction distance from the preset vertex and the smallest Y-direction distance from the preset vertex.
The first vertex is the vertex closest to the preset vertex of the box in the placement space, and the preset vertex of the box is the origin of a coordinate system; that is, when the vertex closest to the point [ 00 ] of the placement space is the point having 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 having 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 having 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 respective vertices of the occupied space, the placement space is determined to be the placeable space. Specifically, the preset target point is represented by cand, if cand= [1 0; 0.2.0; 00 0 3], the first vertex of the placeable space is only one of [ 10 ], [0 2] 0 or [ 00 3], and when a new box is opened, namely the occupied space in the box is 0, initial cand= [ 00 0] indicates that the object to be packaged can only be placed at the origin of the box.
It is easy to see that when the placeable space corresponding to the articles to be packaged meets the third preset condition, the placeable space is limited to be the articles which need to be placed next to the box, so that the number of the placeable spaces is limited, and the calculation amount of the target placement space in the subsequent placeable spaces is reduced. Referring again to fig. 1, the online boxing method further includes:
step 110: and determining a target placing space of the articles to be packaged in at least one placing space according to the vertex position of the placing space.
In practical applications, the placing of the articles to be boxed may be performed by using a mechanical arm, the rotatable mechanical arm may implement rotation of the articles to be boxed, for example, the three-axis rotatable mechanical arm may implement rotation of the articles to be boxed in XYZ three directions, so that the articles to be boxed may be supported to be converted into three postures, while the partially rotating mechanical arm, for example, the horizontal rotating mechanical arm may only implement length and width exchange of the articles, but may not invert or lay down the articles (may not change the length of the vertical axis of the articles), in which case the placing posture of the articles to be boxed is limited, so that in one possible implementation, before determining the target placing space of the articles to be boxed in at least one of the placeable spaces, the method further includes:
acquiring the current gesture of the article to be boxed, and acquiring the placeable gesture of the article to be boxed according to the current gesture;
screening each of the placeable spaces according to the placeable gestures, and reserving at least one of the placeable spaces matched with the placeable gestures; wherein the size of the placeable space is consistent with that of the occupied space.
A, b and c are respectively used for representing the length, the width and the height of an article to be boxed, namely, the second dimension parameter of the article, the gesture of the article to be boxed can be marked by a three-dimensional array, and the format of the three-dimensional array for representing the gesture is as follows: for example, [ a b c ] is the posture of the article to be packaged, then the article to be packaged will occupy the [ x, x+a ] section of the transverse axis of the box, the [ y, y+b ] section of the longitudinal axis, and the [ z, z+c ] section of the vertical axis after being placed in the box in the current posture. It will be appreciated that the attitude [ ab c ] may also be high, long, wide, etc. as the robotic arm needs to rotate it accordingly as appropriate when placing items. For example, the current posture of the article to be boxed is [3 2 4], while the mechanical arm for boxing the article to be boxed only supports horizontal rotation, namely only the exchange of the length and the width of the article can be realized, and the article can not be inverted or put down (the vertical axis length of the article can not be changed), and then the plausible posture of the article to be boxed is [3 2 4], [2 3 4].
After the placeable posture is obtained, the placeable space corresponding to the placeable posture may be obtained, for example, when the placeable posture is [3 2 4], [2 3 4], the corresponding placeable space is a placement space with a length of 3, a width of 2, a height of 4, and a placement space with a length of 2, a width of 3, and a height of 4.
The determining the target placement space of the articles to be packaged in at least one of the placeable spaces according to the vertex positions of the placeable spaces comprises:
obtaining the distance between the target vertex of each placeable space and the preset vertex of the box;
taking a placeable space with the minimum distance between a target vertex and the preset vertex as the target placement space;
the target vertexes are among vertexes of the placing space, and the distance between the vertexes and the preset vertexes is largest.
After each of the placeable spaces is determined, a target placement space of the articles to be packaged is determined in at least one of the placeable spaces, specifically, an origin of the box is taken as a preset vertex (i.e., a point with a coordinate of [ 0] 0'), for each of the placeable spaces, distances between each vertex of the placeable space and the preset vertex are obtained, the vertex with the largest distance is selected as the target vertex, distances between the target vertex corresponding to each of the placeable spaces and the preset vertex are compared, and the smallest placeable space is selected as the target placement space. As can be seen from the above description, for each of the placeable spaces having the same vertex, the distance between the target vertex and the preset vertex is directly related to the article placement posture corresponding to the placeable space, and the article placement posture corresponding to the placeable space is a posture corresponding to the case when the occupied space of the article to be packaged coincides with the placeable space. In one example, the corresponding relationship between the pose of each placable space having the same vertex and the distance between the target vertex and the preset vertex is shown in table 1.
TABLE 1
| Pose of putting | The target vertex is spaced from the preset vertexDistance of |
| [2 3 4] | 7.07 |
| [2 4 3] | 7.35 |
| [3 2 4] | 6.93 |
| [3 4 2] | 7.48 |
| [4 3 2] | 7.35 |
| [4 2 3] | 7.07 |
As shown in table 1, for the articles to be boxed with length of 2, width of 3 and height of 4, among the plurality of placeable spaces with the same vertex, a placeable space with a placement posture of [2,3,4] or [4,2,3] is selected as the target placement space.
Step 120: and acquiring a target placing posture corresponding to the target placing space, so that the articles to be boxed are placed to the target placing space in the target placing posture.
Specifically, the obtaining the target placement posture corresponding to the target placement space further includes:
and taking the object gesture corresponding to the coincidence of the occupied space and the target placing space as the target placing gesture.
Further, the object placing gesture is the gesture of the object corresponding to the space occupied when the space occupied coincides with the object placing space.
Specifically, the step of obtaining the target placement posture corresponding to the target placement space further includes:
and updating the occupied space.
After the target placement posture corresponding to the target placement space is obtained, the mechanical arm can be controlled to place the articles to be packaged to the target placement space in the target placement posture and update the occupied space, and the update process of the occupied space is as follows: the six-dimensional vector with a uniform format is newly added in the six-dimensional array item to record the target placing space, namely, a row of the format is newly added in the item according to the format [ the transverse axis starting value of the placing space, the transverse axis size of the placing space, the longitudinal axis starting value of the placing space, the longitudinal axis size of the placing space, the vertical axis starting value of the placing space and the vertical axis size of the placing space ] described above.
Further, when an implementation mode that whether the placing space is a placing space or not is determined by meeting the first preset condition, the second preset condition and the third preset condition simultaneously is adopted, after the object to be packaged is 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 placing spaces for placing new objects are updated; the 3 three-dimensional row vectors are coordinates of 3 out of 8 vertexes of the newly added object, and are respectively: a point with the largest axis coordinate but the smallest axis coordinate, a point with the largest axis coordinate but the smallest axis coordinate and the smallest axis coordinate, and a point with the largest axis coordinate but the smallest axis coordinate. The 3 newly added three-dimensional row vectors at Cand update are specifically shown as 3 points in fig. 2.
Based on the above, the method for online boxing calculates the target placement space and the corresponding target placement posture of the objects to be boxed according to the occupied space of the objects, and can acquire the proper placement positions in real time when the objects arrive, so that the number of boxes to be used is saved as much as possible, and the transportation cost of the objects is saved.
Fig. 3 is a schematic diagram of a terminal structure according to an embodiment of the present application. The terminal 50 includes a processor 51, a memory 52 coupled to the processor 51.
The memory 52 stores program instructions for implementing the online boxing method described above.
The processor 51 is operative to execute program instructions stored in the memory 52 to control the on-line boxing.
The processor 51 may also be referred to as a CPU (Central Processing Unit ). The processor 51 may be an integrated circuit chip with signal processing capabilities. 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.
Fig. 4 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 cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes, or a terminal device such as a computer, a server, a mobile phone, a tablet, or the like.
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 (9)
1. An on-line boxing 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 loaded 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 packaged in at least one of the placing spaces according to the vertex positions of the placing spaces;
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 size of the placeable space is consistent with that of the occupied space;
wherein the obtaining the placeable space of the articles to be packaged according to the first size, the occupied space and the occupied space comprises:
when the placing space with the same size as the occupied space meets the first preset condition and the second preset condition at the same time, determining the placing space as a placing space;
wherein, the first preset condition is:
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:
the bottom surface of the placement space is parallel to the bottom surface of the box; and, in addition, the processing unit,
four vertexes of the bottom surface of the placing space are all arranged on the bottom surface of the box or on a plane of the occupied space.
2. The on-line boxing method according to claim 1, wherein said obtaining said placeable space for said articles to be boxed in accordance with said first size, said occupied space and said occupied space comprises, before:
acquiring a second size of the article to be boxed, and acquiring the occupied space corresponding to the article to be boxed according to the second size;
the occupied space is the smallest cuboid space which does not interfere with the articles to be boxed when the articles to be boxed are contained.
3. The online boxing method according to claim 1, wherein said obtaining a placeable space of said articles to be boxed according to said first size, said occupied space and said occupied space comprises:
when the placing space with the same size as the occupied space meets the first preset condition, the second preset condition and the third preset condition at the same time, determining the placing space as a placing space;
wherein, the third preset condition is:
the first vertex position of the placement space is a preset target point, the first vertex is the vertex closest to the preset vertex of the box in the placement space, and the preset target point is the point with the largest X-direction distance and the smallest Y-direction distance from the preset vertex of the box or the point with the largest Y-direction distance and the smallest X-direction distance and the smallest Z-direction distance from the preset vertex or the point with the largest Z-direction distance and the smallest X-direction distance and the smallest Y-direction distance from the preset vertex in each vertex of the occupied space.
4. The online boxing method according to claim 1, wherein said determining a target placement space of said objects to be boxed in at least one of said placeable spaces according to a vertex position of said placeable spaces comprises:
obtaining the distance between the target vertex of each placeable space and the preset vertex of the box;
taking a placeable space with the minimum distance between a target vertex and the preset vertex as the target placement space;
the target vertexes are among vertexes of the placing space, and the distance between the vertexes and the preset vertexes is largest.
5. An online boxing method according to claim 3, wherein said determining a target space for said objects to be boxed in at least one of said plausible spaces based on the vertex positions of said respective plausible spaces comprises:
acquiring the current gesture of the article to be boxed, and acquiring the placeable gesture of the article to be boxed according to the current gesture;
and screening each placeable space according to the placeable gesture, and reserving at least one placeable space matched with the placeable gesture.
6. The online boxing method according to claim 1, wherein the obtaining the target placement posture corresponding to the target placement space comprises:
and taking the object gesture corresponding to the coincidence of the occupied space and the target placing space as the target placing gesture.
7. The online boxing method according to any one of claims 1 to 6, wherein the step of obtaining the target pose corresponding to the target pose space further comprises: and updating the occupied space.
8. A terminal comprising a processor, a memory coupled to the processor, wherein,
the memory storing program instructions for implementing the online boxing method of any one of claims 1 to 7;
the processor is configured to execute the program instructions stored by the memory to control on-line boxing.
9. A storage medium having stored thereon program instructions executable by a processor for performing the on-line boxing method as claimed in any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111882270B (en) * | 2020-07-16 | 2024-01-05 | 中国科学院深圳先进技术研究院 | Online boxing method, terminal and storage medium |
| CN113487810A (en) * | 2021-08-17 | 2021-10-08 | 上海蜜罐科技有限公司 | Self-service sending cabinet full early warning system and method |
| CN114229135B (en) * | 2021-12-29 | 2023-06-20 | 杭州海康机器人股份有限公司 | Method and device for determining cargo packaging mode, storage medium and electronic equipment |
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| JP2017067737A (en) * | 2015-10-02 | 2017-04-06 | 株式会社リコー | Dimension measurement device, dimension measurement method, and program |
| CN108491177A (en) * | 2018-03-21 | 2018-09-04 | 北京小米移动软件有限公司 | Space appraisal procedure and device |
| CN109409244A (en) * | 2018-09-29 | 2019-03-01 | 维沃移动通信有限公司 | A kind of object puts the output method and mobile terminal of scheme |
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| CN101957945A (en) * | 2010-08-20 | 2011-01-26 | 上海电机学院 | Method and device for optimizing goods loading of container |
| WO2016021124A1 (en) * | 2014-08-04 | 2016-02-11 | パナソニックＩｐマネジメント株式会社 | Package loading instruction method and loading instruction system |
| CN109685278A (en) * | 2018-12-28 | 2019-04-26 | 深圳蓝胖子机器人有限公司 | Packing method, equipment and computer readable storage medium |
| CN111882270B (en) * | 2020-07-16 | 2024-01-05 | 中国科学院深圳先进技术研究院 | Online boxing method, terminal and storage medium |
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| JP2017067737A (en) * | 2015-10-02 | 2017-04-06 | 株式会社リコー | Dimension measurement device, dimension measurement method, and program |
| CN108491177A (en) * | 2018-03-21 | 2018-09-04 | 北京小米移动软件有限公司 | Space appraisal procedure and device |
| CN109409244A (en) * | 2018-09-29 | 2019-03-01 | 维沃移动通信有限公司 | A kind of object puts the output method and mobile terminal of scheme |
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