CN112257164B

CN112257164B - Automatic article placement method and device, readable storage medium and electronic equipment

Info

Publication number: CN112257164B
Application number: CN202011189198.4A
Authority: CN
Inventors: 田明哲; 潘慈辉; 胡亦朗; 李林原; 张申
Original assignee: Seashell Housing Beijing Technology Co Ltd
Current assignee: Seashell Housing Beijing Technology Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-08-31
Anticipated expiration: 2040-10-30
Also published as: CN112257164A

Abstract

The embodiment of the disclosure discloses an automatic article placing method and device, a readable storage medium and electronic equipment, wherein the method comprises the following steps: obtaining at least one placing surface in a placing model and at least one article to be placed corresponding to the placing model; wherein each placing model comprises at least one placing surface; performing area segmentation on each placing surface in the at least one placing surface, and obtaining a plurality of sub-areas for each placing surface; placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value, so that the practical effect and the attractive effect after placing are ensured; this embodiment puts at least one article through putting on at least one face of putting of placing the model, has realized that the simulation of article is put, has improved and has put efficiency.

Description

Automatic article placement method and device, readable storage medium and electronic equipment

Technical Field

The present disclosure relates to an article placement technology, and in particular, to an automatic article placement method and apparatus, a readable storage medium, and an electronic device.

Background

In the actual home decoration design, not only the placement of the main furniture and accessories thereof, but also the placement of various ornaments, such as: hanging paintings, carpets, potted plants on table tops and table tops, ornaments, and the like. In the existing technical scheme of AI home decoration design, only the placement design of main furniture is included, and the technical scheme of ornament placement is lacked, so that the requirement of actual home decoration simulation cannot be met.

Disclosure of Invention

The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides an automatic article placement method and device, a computer-readable storage medium and an electronic device.

According to an aspect of the embodiments of the present disclosure, there is provided an automatic article placing method, including:

obtaining at least one placing surface in a placing model and at least one article to be placed corresponding to the placing model; wherein each placing model comprises at least one placing surface;

performing area segmentation on each placing surface in the at least one placing surface, and obtaining a plurality of sub-areas for each placing surface;

placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value.

Optionally, the performing area segmentation on each placing surface in the at least one placing surface to obtain a plurality of sub-areas for each placing surface includes:

for each of the at least one placing surface, determining a minimum bounding rectangle based on the placing surface;

dividing the minimum external rectangle to obtain n × m sub-rectangle frames; wherein n and m are integers greater than 1;

and obtaining a plurality of sub-regions corresponding to the placing surface based on the n-m sub-rectangular frames.

Optionally, the obtaining a plurality of sub-regions corresponding to the putting surface based on the n × m sub-rectangular frames includes:

determining the area ratio of the placing surface included in each sub-rectangular frame in the n x m sub-rectangular frames;

in response to the area ratio being greater than or equal to a set ratio, determining the sub-rectangular frame as the sub-region;

determining that the sub-rectangular box is not the sub-region in response to the area ratio being less than the set ratio.

Optionally, before performing region segmentation on each placing surface in the at least one placing surface and obtaining a plurality of sub-regions for each placing surface, the method further includes:

obtaining placement information of each placement surface in the at least one placement surface; wherein the placement information comprises at least one of: category labels, three-dimensional point sets, height information.

Optionally, the category label comprises: bottom space, top surface of table top and shelf partition board;

responding to the situation that the class label of the placing surface is a bottom space or a cabinet frame clapboard, wherein the placing information of the placing surface also comprises height information; the height information is used for limiting the height of the articles placed on the placing surface.

Optionally, after performing region segmentation on each placing surface in the at least one placing surface and obtaining a plurality of sub-regions for each placing surface, the method further includes:

obtaining area information of each sub-area in the plurality of sub-areas based on the placement information of the placement surface, wherein the area information includes at least one of: set of region points, area, height.

Optionally, before placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-areas, the method further includes:

and responding to the fact that the placing information of the placing surface comprises height information, filtering the at least one article to be placed according to the height information, and deleting the article to be placed with the height higher than the height information in the at least one article to be placed.

Optionally, the placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-areas includes:

sequencing the at least one article to be placed according to the priority of the at least one article to be placed in the priority training corresponding to the placement model to obtain an article sequence; each placing model corresponds to a priority sequence, and each priority in the priority sequence corresponds to at least one article to be placed;

and placing the at least one article to be placed on the at least one placing surface according to the article sequence.

Optionally, the placing the at least one article to be placed on the at least one placing surface according to the article sequence includes:

taking the article to be placed with the highest priority from the article sequence as the current article to be placed;

determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position;

judging whether the placing stopping condition is met, if so, stopping placing, and ending; otherwise, deleting the current article to be placed from the article sequence, and iteratively executing: taking the article to be placed with the highest priority in the article sequence as the current article to be placed; and determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position.

Optionally, the placing stop condition includes: the article sequence does not comprise articles to be placed, or the placing density of the placing surfaces reaches a set density; wherein the placing density is determined by the ratio of the sum of the bottom areas of at least one article to be placed on the placing surface to the area of the placing surface.

Optionally, the determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position includes:

determining a first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; the first placing position is not overlapped with an occupied position corresponding to an article to be placed on the placing surface;

determining whether the placing surface meets a balance condition according to the first placing position and an occupation position corresponding to the article to be placed on the placing surface;

in response to the placing surface meeting the balance condition, placing the current article to be placed at the first placing position;

and in response to the placing face not meeting the balance condition, determining a second placing position corresponding to the current article to be placed, and placing the current article to be placed at the second placing position or not placing the current article to be placed.

Optionally, the equalization condition comprises: the difference value between the left article placing quantity and the right article placing quantity of the placing surface is smaller than a first set difference value, and the difference value between the upper article placing quantity and the lower article placing quantity of the placing surface is smaller than a second set difference value.

Optionally, the determining a second placement position corresponding to the current article to be placed, and placing the current article to be placed at the second placement position, or not placing the current article to be placed, includes:

and (3) performing iteration: determining a second placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; determining whether the placing surface meets a balance condition according to the second placing position and the position corresponding to the article to be placed on the placing surface; the second placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface;

placing the current article to be placed at the second placing position until the placing surface meets the balance condition; or when the iteration times reach the set times, the current article to be placed is not placed.

Optionally, the determining the first placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed includes:

determining at least one of the sub-regions based on the recommendation degree distribution table;

determining center coordinates of each of the at least one sub-region based on the set of region points for the corresponding at least one sub-region;

determining the first pose location based on the at least one center coordinate.

Optionally, the determining at least one sub-region based on the recommendation degree distribution table includes:

determining a random number, and determining the disturbance probability of the current article to be placed based on the random number;

and determining at least one sub-region corresponding to the position with the highest recommendation degree in the recommendation degree distribution table corresponding to the current article to be placed or at least one sub-region corresponding to the position with the second highest recommendation degree based on the disturbance probability.

Optionally, the determining the first pose location based on the at least one center coordinate comprises:

determining a placement center coordinate based on the at least one center coordinate;

and determining the center and the area of the first placing position based on the placing center coordinate, the bottom area of the current article to be placed and the reserved allowance of the current article to be placed, and taking the first placing position as the occupied position of the placing surface.

According to another aspect of the disclosed embodiments, there is provided an automatic article placing device, comprising:

the placing surface determining module is used for obtaining at least one placing surface in the placing model and at least one article to be placed corresponding to the placing model; wherein each placing model comprises at least one placing surface;

the placing surface dividing module is used for carrying out region division on each placing surface in the at least one placing surface and obtaining a plurality of sub-regions aiming at each placing surface;

an article placing module, configured to place the at least one article to be placed on the at least one placing surface based on the plurality of sub-areas; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value.

Optionally, the placing surface dividing module is specifically configured to determine, for each placing surface of the at least one placing surface, a minimum bounding rectangle based on the placing surface; dividing the minimum external rectangle to obtain n × m sub-rectangle frames; wherein n and m are integers greater than 1; and obtaining a plurality of sub-regions corresponding to the placing surface based on the n-m sub-rectangular frames.

Optionally, the putting surface dividing module is configured to determine an area ratio of the putting surface included in each sub-rectangular frame of the n × m sub-rectangular frames when obtaining a plurality of sub-regions corresponding to the putting surface based on the n × m sub-rectangular frames; in response to the area ratio being greater than or equal to a set ratio, determining the sub-rectangular frame as the sub-region; determining that the sub-rectangular box is not the sub-region in response to the area ratio being less than the set ratio.

Optionally, the apparatus further comprises:

the placing information module is used for obtaining placing information of each placing surface in the at least one placing surface; wherein the placement information comprises at least one of: category labels, three-dimensional point sets, height information.

Optionally, the apparatus further comprises:

a region information module, configured to obtain region information of each of the multiple sub-regions based on the placement information of the placement surface, where the region information includes at least one of: set of region points, area, height.

Optionally, the apparatus further comprises:

and the height filtering module is used for responding to the placing information of the placing surface including height information, filtering the at least one article to be placed according to the height information, and deleting the article to be placed with the height higher than the height information in the at least one article to be placed.

Optionally, the article presentation module comprises:

the article sequencing unit is used for sequencing the at least one article to be placed according to the priority of the at least one article to be placed in the priority training corresponding to the placement model to obtain an article sequence; each placing model corresponds to a priority sequence, and each priority in the priority sequence corresponds to at least one article to be placed;

and the sequential placing unit is used for placing the at least one article to be placed on the at least one placing surface according to the article sequence.

Optionally, the in-sequence placing unit is specifically configured to take the article to be placed with the highest priority from the article sequence as the current article to be placed; determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position; judging whether the placing stopping condition is met, if so, stopping placing, and ending; otherwise, deleting the current article to be placed from the article sequence, and iteratively executing: taking the article to be placed with the highest priority in the article sequence as the current article to be placed; and determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position.

Optionally, the in-order placing unit is configured to determine a placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and when the current article to be placed is placed according to the placing position, determine a first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; the first placing position is not overlapped with an occupied position corresponding to an article to be placed on the placing surface; determining whether the placing surface meets a balance condition according to the first placing position and an occupation position corresponding to the article to be placed on the placing surface; in response to the placing surface meeting the balance condition, placing the current article to be placed at the first placing position; and in response to the placing face not meeting the balance condition, determining a second placing position corresponding to the current article to be placed, and placing the current article to be placed at the second placing position or not placing the current article to be placed.

Optionally, when determining a second placement position corresponding to the current article to be placed, and placing the current article to be placed at the second placement position, or not placing the current article to be placed, the sequential placement unit is configured to iteratively perform: determining a second placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; determining whether the placing surface meets a balance condition according to the second placing position and the position corresponding to the article to be placed on the placing surface; the second placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface; placing the current article to be placed at the second placing position until the placing surface meets the balance condition; or when the iteration times reach the set times, the current article to be placed is not placed.

Optionally, when the first placement position of the current article to be placed is determined according to the recommendation degree distribution table corresponding to the current article to be placed, the in-order placement unit is configured to determine at least one sub-region based on the recommendation degree distribution table; determining center coordinates of each of the at least one sub-region based on the set of region points for the corresponding at least one sub-region; determining the first pose location based on the at least one center coordinate.

Optionally, when determining at least one of the sub-regions based on the recommendation degree distribution table, the in-sequence placing unit is configured to determine a random number, and determine a disturbance probability of the current article to be placed based on the random number; and determining at least one sub-region corresponding to the position with the highest recommendation degree in the recommendation degree distribution table corresponding to the current article to be placed or at least one sub-region corresponding to the position with the second highest recommendation degree based on the disturbance probability.

Optionally, the in-order placing unit, when determining the first placing position based on the at least one center coordinate, is configured to determine a placing center coordinate based on the at least one center coordinate; and determining the center and the area of the first placing position based on the placing center coordinate, the bottom area of the current article to be placed and the reserved allowance of the current article to be placed, and taking the first placing position as the occupied position of the placing surface.

According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the automatic item placing method according to any one of the embodiments.

According to still another aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

a processor;

a memory for storing the processor-executable instructions;

the processor is configured to read the executable instructions from the memory and execute the instructions to implement the automatic article placement method according to any of the embodiments.

Based on the automatic article placement method and device, the readable storage medium and the electronic device provided by the above embodiments of the present disclosure, at least one placement surface in a placement model and at least one article to be placed corresponding to the placement model are obtained; wherein each placing model comprises at least one placing surface; performing area segmentation on each placing surface in the at least one placing surface, and obtaining a plurality of sub-areas for each placing surface; placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value, so that the practical effect and the attractive effect after placing are ensured; in the embodiment, at least one article is placed on at least one placing surface of the placing model, so that the simulated placing of the article is realized, and the technical blank in the field of placing small articles is filled; and moreover, the articles to be placed are placed on the basis of the subareas, so that the placing efficiency is improved.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic flow chart diagram of an article placement method according to an exemplary embodiment of the present disclosure.

Fig. 2a is a schematic flow chart of step 104 in the embodiment shown in fig. 1 of the present disclosure.

Fig. 2b is a schematic diagram of a nearly rectangular laying surface being divided in an alternative example of the present disclosure.

Fig. 2c is a schematic view of an alternative example of the present disclosure illustrating the division of a circular lying surface.

Fig. 3 is a schematic flow chart of step 106 in the embodiment shown in fig. 1 of the present disclosure.

Fig. 4 is a schematic flow chart of step 1062 in the embodiment shown in fig. 3 of the present disclosure.

Fig. 5a is a schematic flow chart of step 402 in the embodiment shown in fig. 4 of the present disclosure.

Fig. 5b is a schematic diagram of a recommendation degree distribution table of a desk lamp in a desk placement area according to an alternative example of the disclosure.

Fig. 5c is a schematic diagram of a segmentation for performing a balanced segmentation on a placing surface in an alternative example of the present disclosure.

FIG. 6 is a schematic flow chart of step 4024 in the embodiment shown in FIG. 5a according to the present disclosure.

FIG. 7 is a schematic flow chart of step 4021 in the embodiment shown in FIG. 5a according to the present disclosure.

Fig. 8 is a schematic structural diagram of an article holding device according to an exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.

Detailed Description

Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.

It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.

It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.

It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.

In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.

It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.

Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.

Exemplary method

Fig. 1 is a schematic flow chart diagram of an automatic article placement method according to an exemplary embodiment of the present disclosure. The embodiment can be applied to an electronic device, as shown in fig. 1, and includes the following steps:

and 102, obtaining at least one placing surface in the placing model and at least one article to be placed corresponding to the placing model.

Each placing model comprises at least one placing surface, and the placing surface can be a horizontal plane or a certain angle with the horizontal plane as long as articles can be stably placed; each placing model corresponds to at least one article to be placed, for example, the article corresponding to the dining table includes: dinner plates, candlestick, ornaments, green plants, fruit baskets and the like; the article that the tea table corresponds includes: fruit baskets, green plants, ornaments, books, tea trays and the like; the article that the desk corresponds includes: books, computers, photo frames, water cups, greens, and the like.

Alternatively, the placement model in this embodiment may be a three-dimensional model of any article (e.g., furniture, etc.) having at least one placing surface, which may be in a house model (e.g., placement of the completed three-dimensional model in the house), or a separately stored three-dimensional model; the lying plane is a plane in the three-dimensional model (composed of a point set, each point in the point set comprises three-dimensional coordinates, and when the lying plane is a plane, the ordinate of all the points is the same). Alternatively, the method for determining at least one placing surface in the placing model may be a known at least one placing surface set in advance; or training a neural network capable of identifying the placing surfaces through a large number of three-dimensional models marked with the placing surfaces, and identifying the placing model through the neural network to obtain at least one placing surface in the placing model; the embodiment does not limit the specific technical means for obtaining at least one placing surface in the placing model.

And 104, performing area segmentation on each placing surface in at least one placing surface, and obtaining a plurality of sub-areas for each placing surface.

In this embodiment, in order to improve and put efficiency, will every put the face and divide into a plurality of subregions respectively, can fix a position fast through a plurality of subregions and wait to put the central coordinate that article can put the position, realize putting fast to, owing to divide into a plurality of subregions, realize will putting the face and carry out the subregion, improved the equilibrium of putting the result.

And 106, placing at least one article to be placed on at least one placing surface based on the plurality of sub-areas.

The ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value; because the area of putting the face is limited, all article can both be put in putting the face to waiting to put that the model corresponds to not, and if the article that the face was put is too much, will influence the in-service use and pleasing to the eye of every article, be unfavorable for actual operation, consequently, this embodiment limits the quantity of putting article through putting density, wherein, put the density and confirm by the ratio of the at least one bottom surface area of waiting to put article and the area of putting the face of putting on putting.

For example, in an alternative embodiment, the requirement for packing density is expressed by the following equation (1):

S_{article 1}+S_{Article 2}+…+S_{Article N}≤T*S_AFormula (1)

Wherein S is_{Article 1}，S_{Article 2}…S_{Article N}Respectively showing the bottom areas of articles to be placed; s_AShowing the area of the placing surface; t represents a set threshold, the value of the set threshold can be 0.2-0.7, and the like, and the better value is 0.6; the embodiment hopes to achieve the purpose of placing articles on the placing surface as much as possible on the premise that the density meets the requirement, so that the content of the placing model is richer.

In the automatic article placement method provided by the above embodiment of the present disclosure, at least one placement surface in a placement model and at least one article to be placed corresponding to the placement model are obtained; wherein each placing model comprises at least one placing surface; performing area segmentation on each placing surface in the at least one placing surface, and obtaining a plurality of sub-areas for each placing surface; placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value, so that the practical effect and the attractive effect after placing are ensured; in the embodiment, at least one article is placed on at least one placing surface of the placing model, so that the simulated placing of the article is realized, and the technical blank in the field of placing small articles is filled; and moreover, the articles to be placed are placed on the basis of the subareas, so that the placing efficiency is improved.

As shown in fig. 2a, based on the embodiment shown in fig. 1, step 104 may include the following steps:

step 1041, determining a minimum bounding rectangle for each of the at least one placing surfaces based on the placing surface.

Optionally, the placing surface in this embodiment may be a rectangle, or may be any other irregular shape, and in order to better divide the placing surface, this embodiment obtains a minimum circumscribed rectangle of the placing surface, and uses the minimum circumscribed rectangle to realize region division, so that the shape of the sub-region obtained by division is more regular.

And 1042, dividing the minimum circumscribed rectangle to obtain n × m sub-rectangle frames.

Wherein n and m are integers greater than 1.

And 1043, obtaining a plurality of sub-regions corresponding to the placing surfaces based on the n × m sub-rectangular frames.

According to the implementation, the minimum circumscribed rectangle is divided, so that the shape of each sub-rectangular frame is regular, and the placing position can be determined more conveniently; optionally, n and m may be odd numbers larger than 1, when both n and m are odd numbers, a sub-region may be determined as a central position of the placing surface, and calculation is facilitated when the placing balance of the placing surface is measured; for example, a layout surface close to a rectangle is divided, and the obtained division result is shown in fig. 2b, in this example, n and m both take the value of 5, so as to obtain 25 sub-rectangular frames; in another example, a circular placing surface is divided, and the obtained division result is shown in fig. 2c, in this example, n and m both take the value of 5, so as to obtain 25 sub-rectangular frames; in this embodiment, not every sub-rectangular frame is a sub-region, and specifically, whether the sub-rectangular frame is a sub-region may be determined by the following steps:

determining the area ratio of a placing surface included in each sub-rectangular frame in the n x m sub-rectangular frames;

in response to the area ratio being greater than or equal to the set ratio, determining the sub-rectangular frame as a sub-region;

and in response to the area ratio being smaller than the set ratio, determining that the sub-rectangular frame is not a sub-region.

In this embodiment, whether the sub-rectangular frame is a sub-region is determined by the proportion of the placing surface in the sub-rectangular frame, and when the area proportion is smaller than the set proportion, it is described that the proportion of the placing surface in the sub-rectangular frame is low, and placing of an article in the sub-rectangular frame is not stable, so that the sub-rectangular frame is not used as the sub-region, and the set proportion may be set according to actual conditions, for example: 0.5, etc.; when the setting ratio is 0.5, the 4 sub-rectangular frames corresponding to the four corners in the putting surface as shown in fig. 2c will not be the sub-regions, the other sub-rectangular frames marked with asterisks will be the sub-regions, and each sub-rectangular frame in fig. 2b will be the sub-region.

In some optional implementations, before performing step 104, the method may further include:

and obtaining the placing information of each placing surface in at least one placing surface.

Wherein the placement information includes at least one of: category labels, three-dimensional point sets, height information.

In this embodiment, there is an association relationship between three placement information, and generally, the placement surface at least includes two pieces of information, namely, a category label and a three-dimensional point set, and may further include height information.

Optionally, the category label comprises: a bottom space (BottomSpace), a top surface of a table top (tableBoard) and a cabinet frame partition (cabin Board);

responding to the fact that the class label of the placing surface is a bottom space or a cabinet frame clapboard, and the placing information of the placing surface also comprises height information; the height information is used for limiting the height of the articles placed on the placing surface;

and responding to the fact that the class label of the placing surface is the top of the table board, and the placing information of the placing surface does not include height information.

The obtaining of the category label may be obtained known labeling information, or the three-dimensional model is identified through a trained neural network, and the category of each placing surface is determined, which does not limit the obtaining of the category label; the three-dimensional point set is formed by all points corresponding to the placing surface in the three-dimensional model corresponding to the placing model, and the area of the placing surface can be determined by the three-dimensional point set; the height information is the height difference between the placing surface and another surface above the placing surface in the placing model, when the placing surface is used for placing articles, the height of the articles cannot be larger than the height information, otherwise, errors (such as penetrating through the placing model and the like) occur.

Optionally, before performing step 106, the method may further include:

and responding to the situation that the placing information of the placing surface comprises height information, filtering at least one article to be placed according to the height information, and deleting the article to be placed with the height larger than the height information in the at least one article to be placed.

In the embodiment, through the screening of the height information, the articles to be placed with the height greater than the height information are filtered, so that the error problem is reduced, all the articles to be placed corresponding to the surfaces to be placed meet the requirement of the height information, and the placing efficiency is improved.

Optionally, after the step 104 is executed, the method may further include:

and obtaining the area information of each sub-area in the plurality of sub-areas based on the placing information of the placing surface.

Wherein the region information includes at least one of: set of region points, area, height.

Because each subregion is obtained on the basis of average segmentation of the approximate placing surface, on the premise that the placing information of the placing surface is known, the region information of each subregion can be directly obtained, optionally, the area can be obtained on the basis that the area of the placing surface is divided by the number of the subregions, a region point set can be obtained by segmenting a point set of the placing surface, and the height information of the subregions is the same as that of the placing surface and can be directly obtained; on the premise that the area point set and the area of each sub-area are obtained, when the object to be placed is placed, the coordinates of the placement center can be positioned more quickly.

As shown in fig. 3, based on the embodiment shown in fig. 1, step 106 may include the following steps:

step 1061, sequencing at least one article to be placed according to the priority of the at least one article to be placed in the priority training corresponding to the placement model to obtain an article sequence.

Each placing model corresponds to one priority sequence, and each priority in the priority sequences corresponds to at least one article to be placed.

And 1062, placing at least one article to be placed on at least one placing surface according to the article sequence.

In this embodiment, because the area of putting the face is limited, not all articles to be put can all be put on putting the face, whether can put on putting the face, just relate to the problem of putting the precedence order, in this embodiment, every model of placing corresponds a priority sequence, for example, the article that the dining table corresponds includes: dinner plate, candlestick, ornament, green plant and fruit basket; the dinner plates are arranged from high to low according to the priority, so that the dinner plates are arranged firstly when the dinner plates are arranged, then the candlesticks are arranged in sequence, the dinner plates are arranged according to the priority from high to low until the arrangement density reaches a set threshold value, and the arrangement of the dinner plates is finished.

As shown in fig. 4, based on the embodiment shown in fig. 3, step 1062 may include the following steps:

step 401, taking the article to be placed with the highest priority from the article sequence as the current article to be placed.

And 402, determining the placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placing position.

Step 403, judging whether the placement stopping condition is met, if so, stopping placement, and ending; otherwise, deleting the current article to be placed from the article sequence, and executing step 401.

Optionally, the placing stop condition includes: the article sequence does not include the articles to be placed, or the placing density of the placing surface reaches the set density; the placing density is determined by the ratio of the sum of the bottom areas of at least one article to be placed on the placing surface to the area of the placing surface.

In this embodiment, according to the sequence of the article sequences, the article to be placed with the highest priority is placed as the current article to be placed, and after the placement of the current article to be placed is completed, the article to be placed is deleted from the article sequence, so as to ensure that the next article to be taken out with the highest priority is not repeated, optionally, there is also a case: for this situation, optionally, the present embodiment may number a plurality of same articles according to the number of the articles that can be placed, and place the articles in the article sequence, and when placing the articles, the articles may be regarded as a plurality of different articles to be placed; or, when placing the type of articles once according to the number that can be placed that sets up, the simultaneous realization is to a plurality of placing of waiting to put the article, and the number that can put the article at every turn can set up according to actual conditions.

As shown in fig. 5a, based on the embodiment shown in fig. 4, step 402 may include the following steps:

step 4021, determining a first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed.

The first placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface; in the process of placing the articles, it is required to ensure that the cross ratio of the first placing position of the current article to be placed to the placing positions of other placed articles to be placed is zero, so as to ensure that the plurality of articles to be placed on the placing surface are not collided.

Optionally, each item to be placed corresponds to a recommendation degree table, generally, the number of regions in the recommendation degree distribution table corresponds to the number of sub-regions included in the placing surface, and the recommendation degrees in the recommendation degree distribution table are generally distributed bilaterally, for example, as shown in fig. 5b, the recommendation degree distribution table for the item to be placed includes 25 small grids, each grid corresponds to one sub-region, a value in each grid represents the recommendation degree of the region to be placed at the position, the higher the recommendation degree is, the more suitable the item to be placed is placed at the position, the recommendation degree distribution table can be set according to actual needs, and as shown in fig. 5b, the recommendation degree distribution table for the desk lamp in the desk placing region is shown in a schematic diagram.

Step 4022, determining whether the placing surface meets a balance condition according to the first placing position and the occupation position corresponding to the article to be placed on the placing surface; if yes, go to step 4023; otherwise, step 4024 is performed.

Step 4023, placing the current article to be placed at the first placing position.

Step 4024, determining a second placing position corresponding to the current article to be placed, and placing the current article to be placed at the second placing position, or not placing the current article to be placed.

In the embodiment, in order to ensure that the placed surface is relatively balanced and attractive, the placing position placed at each time is evaluated through the balance condition, only the placing position meeting the balance condition can be placed with the current article to be placed, and when the balance condition is not met, the placing position of the current article to be placed needs to be adjusted, so that the adjusted placing position can meet the balance condition. Optionally, the equalization condition comprises: the difference between the left article placing quantity and the right article placing quantity of the placing surface is smaller than a first set difference, and the difference between the upper article placing quantity and the lower article placing quantity of the placing surface is smaller than a second set difference.

Alternatively, the first setting difference and the second setting difference may be equal or different; in this embodiment, the placing surface can be divided into 9 parts, which specifically includes: a center portion, an upper middle portion, a lower middle portion, a left middle portion, a right middle portion, a left upper portion, a left lower portion, a right upper portion, and a right lower portion; for example, in an alternative example, the rectangular laying surface is divided into nine parts, i.e., a (upper left part), B (upper right part), C (lower left part), D (lower right part), O (central part), U (upper middle part), V (lower middle part), S (middle left part), and T (middle right part), in a manner as shown in fig. 5C; at this time, the difference is determined by calculating the number of articles placed in each area, for example, in A, B, C, D area, the number of articles placed in each area is increased by 1; in the U, V, S, T area, for each article, the number of articles placed in the two adjacent areas is increased by 0.5, for example, when an article is placed in the U area, the number of articles in the A, B two areas is increased by 0.5; in zone O, the number of items in the four zones, A, B, C, D, increases by 0.25 for each item placed; when the difference value between the left article placing number and the right article placing number is determined, only the difference value between the sum of the placing numbers of the area A and the area C and the sum of the placing numbers of the area B and the area D is calculated to obtain a first difference value; calculating the difference between the sum of the placing numbers of the area A and the area B and the sum of the placing numbers of the area C and the area D to obtain a second difference; only when the first difference is smaller than the first setting difference and the second difference is smaller than the second setting difference, the placing surface meets the equilibrium condition, and optionally, the first setting difference and the second setting difference are both 2.

As shown in fig. 6, based on the embodiment shown in fig. 5a, step 4024 may include the following steps:

step 601, determining a second placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed.

Step 602, determining whether the placing surface meets a balance condition according to the second placing position and the position corresponding to the article to be placed on the placing surface; if yes, go to step 603; otherwise, step 604 is performed.

The second placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface.

And 603, placing the current article to be placed at the second placing position.

Step 604, judging whether the iteration times reach the set times, if so, not placing the current article to be placed; otherwise, step 601 is executed.

In this embodiment, the step 601 and the step 602 are performed iteratively to adjust the placement position of the current article to be placed, each time when the second placement position does not satisfy the equilibrium condition, the second placement position is discarded, and a new second placement position is determined based on the recommendation degree table again until the placement surface satisfies the equilibrium condition, however, the iteration is not performed all the time, and when the iteration number reaches the set number, that is, the same article has been placed at different positions for the set number, the placement of the article will be discarded, where the set number may be set according to an actual situation, for example, set to 3.

As shown in fig. 7, based on the embodiment shown in fig. 5a, step 4021 may include the following steps:

in step 701, at least one sub-region is determined based on the recommendation degree distribution table.

Optionally, when the placing surface is divided into sub-regions, the sub-regions may be divided according to the number of divisions in the recommendation degree distribution table, where the number of sub-regions obtained by the division corresponds to the number of lattices included in the recommendation degree distribution table (for example, one sub-region corresponds to one lattice, or multiple sub-regions correspond to one lattice), and the sub-region corresponding to the placing position may be quickly determined.

Step 702, determining a center coordinate of each sub-region in the at least one sub-region based on the region point set of the corresponding at least one sub-region.

Step 703, determining a first placement position based on the at least one center coordinate.

Alternatively, when the first placement position is determined based on the center coordinates of at least one of the sub-regions, it may be determined based on the following formula (2):

P_x＝O_x+sinθ₁*r_x

P_y＝O_y+sinθ₂*r_yformula (2)

Wherein, P_xAnd P_yRespectively representing the coordinates of the first placing position of the current article to be placed in the x axis and the y axis of the placing surface (converting the coordinates of the placing surface in the three-dimensional model into plane coordinates, and regarding the placing surface as a plane); o is_xAnd O_yCoordinates of an x-axis and a y-axis in the central coordinates determined for the at least one sub-region, respectively; r is_xAnd r_yHalf the length of at least one sub-region in the x-axis and y-axis, respectively; theta₁And theta₂Is a random number, the value of which is a random value; wherein, O_xAnd O_yThe determination may be based on an average of the corresponding center coordinates of each of the corresponding at least one sub-region.

Optionally, step 701 may include:

and determining at least one sub-region corresponding to the position with the highest recommendation degree in a recommendation degree distribution table corresponding to the current article to be placed or at least one sub-region corresponding to the position with the second highest recommendation degree based on the disturbance probability.

Because each item corresponds to one recommendation degree separate table, if the item is placed at the position with the highest recommendation degree each time, the placing is simplified, in order to realize diversified placing and improve user experience, in the embodiment, when the placing position is determined, a disturbance probability is added, and whether at least one sub-region corresponding to the position with the highest recommendation degree is used as a first placing position or at least one sub-region corresponding to the position with the second highest recommendation degree is used as a first placing position is determined through the disturbance probability; the perturbation probability may be determined based on the following equation (3):

r ═ 1-2 abs (S (γ) -0.5) formula (3)

Wherein R is the disturbance probability; abs is an absolute value function, S () is a Sigmoid function, and any numerical value is mapped between-1 and 1; gamma is a random number and can be arbitrarily valued; optionally, when the disturbance probability is greater than or equal to a set probability value (for example, 0.5 and the like), taking at least one sub-region corresponding to a position with the highest recommendation degree as a first placing position; and when the disturbance probability is smaller than the set probability value, taking at least one sub-region corresponding to the position with the second highest recommendation degree as a first placing position.

Optionally, step 703 may include:

and determining the center and the area of the first placing position based on the placing center coordinate, the bottom area of the article to be placed at present and the reserved allowance of the article to be placed at present, and taking the first placing position as the occupied position of the placing surface.

In order to avoid collision between a plurality of articles to be placed on the same placing surface or abnormal use caused by too close distance, the embodiment sets a corresponding reserved margin for each article to be placed, the area for placing the articles to be placed is increased by the reserved allowance, the collision among a plurality of articles to be placed can be effectively avoided, the reserved allowance can be a radius which is expanded outwards by a set length by taking the bottom area of the article to be placed as the center, namely, the base area of the articles to be placed is enlarged, the center of the first placing position is the center of the base area of the articles to be placed, the area is based on the area of bottom area after reserving allowance extension, and at this moment, the area after the extension all is the occupation position that should wait to put article correspondence at present, and other later wait to put article and can not occupy this partial area, have effectively reduced the collision between a plurality of article.

Any of the automatic item placement methods provided by embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the automatic item placement methods provided by the embodiments of the present disclosure may be executed by a processor, for example, the processor may execute any of the item placement methods mentioned in the embodiments of the present disclosure by calling a corresponding instruction stored in a memory. And will not be described in detail below.

Exemplary devices

Fig. 8 is a schematic structural diagram of an automatic article placing device according to an exemplary embodiment of the present disclosure. As shown in fig. 8, the apparatus provided in this embodiment includes:

and the placing surface determining module 81 is used for obtaining at least one placing surface in the placing model and at least one article to be placed corresponding to the placing model.

Wherein, each placing model comprises at least one placing surface.

The placing surface dividing module 82 is configured to perform area division on each placing surface of at least one placing surface, and obtain a plurality of sub-areas for each placing surface.

And the article placing module 83 is used for placing at least one article to be placed on at least one placing surface based on the plurality of sub-areas.

The ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value.

According to the automatic article placement device provided by the embodiment of the disclosure, at least one placement surface in a placement model and at least one article to be placed corresponding to the placement model are obtained; wherein each placing model comprises at least one placing surface; performing area segmentation on each placing surface in the at least one placing surface, and obtaining a plurality of sub-areas for each placing surface; placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value, so that the practical effect and the attractive effect after placing are ensured; in the embodiment, at least one article is placed on at least one placing surface of the placing model, so that the simulated placing of the article is realized, and the technical blank in the field of placing small articles is filled; and moreover, the articles to be placed are placed on the basis of the subareas, so that the placing efficiency is improved.

In some optional embodiments, the placing plane dividing module 82 is specifically configured to determine, for each placing plane of the at least one placing plane, a minimum bounding rectangle based on the placing plane; dividing the minimum external rectangle to obtain n × m sub-rectangle frames; wherein n and m are integers greater than 1; and obtaining a plurality of sub-regions corresponding to the placing surfaces based on the n-m sub-rectangular frames.

Optionally, the placing surface dividing module 82 is configured to determine an area ratio of a placing surface included in each sub-rectangular frame of the n × m sub-rectangular frames when obtaining a plurality of sub-regions corresponding to the placing surface based on the n × m sub-rectangular frames; in response to the area ratio being greater than or equal to the set ratio, determining the sub-rectangular frame as a sub-region; and in response to the area ratio being smaller than the set ratio, determining that the sub-rectangular frame is not a sub-region.

In some optional embodiments, the apparatus provided in this embodiment further includes:

the placing information module is used for obtaining placing information of each placing surface in at least one placing surface; wherein the placement information includes at least one of: category labels, three-dimensional point sets, height information.

responding to the fact that the class label of the placing surface is a bottom space or a cabinet frame clapboard, and the placing information of the placing surface also comprises height information; wherein, the height information is used for limiting the height of the articles placed on the placing surface.

the area information module is used for obtaining the area information of each sub-area in the plurality of sub-areas based on the placing information of the placing surface, wherein the area information comprises at least one of the following items: set of region points, area, height.

and the height filtering module is used for responding to the placing information of the placing surface and including height information, filtering at least one article to be placed according to the height information, and deleting the article to be placed with the height higher than the height information in the at least one article to be placed.

In some alternative embodiments, the article placement module 83 includes:

the article sequencing unit is used for sequencing at least one article to be placed according to the priority of the at least one article to be placed in the priority training corresponding to the placement model to obtain an article sequence; each placing model corresponds to a priority sequence, and each priority in the priority sequence corresponds to at least one article to be placed;

and the sequential placing unit is used for placing at least one article to be placed on at least one placing surface according to the article sequence.

Optionally, the sequential placement unit is specifically configured to take the article to be placed with the highest priority from the article sequence as the current article to be placed; determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position; judging whether the placing stopping condition is met, if so, stopping placing, and ending; otherwise, deleting the current article to be placed from the article sequence, and iteratively executing: taking the article to be placed with the highest priority in the article sequence as the current article to be placed; and determining the placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placing position.

Optionally, the placing stop condition includes: the article sequence does not include the articles to be placed, or the placing density of the placing surface reaches the set density.

The placing density is determined by the ratio of the sum of the bottom areas of at least one article to be placed on the placing surface to the area of the placing surface.

Optionally, the in-sequence placing unit is configured to determine a placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and when the current article to be placed is placed according to the placing position, determine a first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; the first placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface; determining whether the placing surface meets a balance condition or not according to the first placing position and the occupation position corresponding to the article to be placed on the placing surface; in response to the placing surface meeting the balance condition, placing the current article to be placed at a first placing position; and in response to the situation that the placing surface does not meet the balance condition, determining a second placing position corresponding to the current article to be placed, and placing the current article to be placed at the second placing position or not placing the current article to be placed.

Optionally, the equalization condition comprises: the difference between the left article placing quantity and the right article placing quantity of the placing surface is smaller than a first set difference, and the difference between the upper article placing quantity and the lower article placing quantity of the placing surface is smaller than a second set difference.

Optionally, when the sequential placement unit determines a second placement position corresponding to the current article to be placed, and places the current article to be placed at the second placement position, or does not place the current article to be placed, the sequential placement unit is configured to perform the following iterative operations: determining a second placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; determining whether the placing surface meets the balance condition or not according to the second placing position and the position corresponding to the article to be placed on the placing surface; the second placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface; placing the current articles to be placed at a second placing position until the placing surface meets the balance condition; or the iteration times reach the set times, and the current articles to be placed are not placed.

Optionally, when the first placement position of the current article to be placed is determined according to the recommendation degree distribution table corresponding to the current article to be placed, the sequential placement unit is configured to determine at least one sub-region based on the recommendation degree distribution table; determining a center coordinate of each of the at least one sub-region based on the set of region points of the corresponding at least one sub-region; a first pose location is determined based on the at least one center coordinate.

Optionally, the sequential placement unit is configured to determine a random number when determining at least one sub-region based on the recommendation degree distribution table, and determine a disturbance probability of the current to-be-placed item based on the random number; and determining at least one sub-region corresponding to the position with the highest recommendation degree in a recommendation degree distribution table corresponding to the current article to be placed or at least one sub-region corresponding to the position with the second highest recommendation degree based on the disturbance probability.

Optionally, the sequential placing unit, when determining the first placing position based on the at least one center coordinate, is configured to determine a placing center coordinate based on the at least one center coordinate; and determining the center and the area of the first placing position based on the placing center coordinate, the bottom area of the current article to be placed and the reserved allowance of the current article to be placed, and taking the first placing position as the occupied position of the placing surface.

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 9. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.

FIG. 9 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

As shown in fig. 9, the electronic device 90 includes one or more processors 91 and memory 92.

The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

Memory 92 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 91 to implement the automatic item placement methods of the various embodiments of the present disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 90 may further include: an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

For example, when the electronic device is the first device 100 or the second device 200, the input device 93 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 93 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.

The input device 93 may also include, for example, a keyboard, a mouse, and the like.

The output device 94 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 94 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.

Of course, for simplicity, only some of the components of the electronic device 90 relevant to the present disclosure are shown in fig. 9, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 90 may include any other suitable components, depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the above-described methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the automatic item placement method according to various embodiments of the present disclosure described in the "exemplary methods" section above of this specification.

The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the automatic item placement method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. An automatic article placement method, comprising:

placing the at least one article to be placed on the at least one placing surface based on the plurality of sub-regions; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value;

the performing region segmentation on each placing surface in the at least one placing surface to obtain a plurality of sub-regions for each placing surface includes:

2. The method of claim 1, wherein the deriving the plurality of sub-regions corresponding to the putting surface based on the n × m sub-rectangular frames comprises:

3. The method of claim 1, wherein before performing the region segmentation on each of the at least one placing surface and obtaining a plurality of sub-regions for each placing surface, the method further comprises:

4. The method of claim 3, wherein the category label comprises: bottom space, top surface of table top and shelf partition board;

5. The method of claim 4, wherein the area dividing for each of the at least one placing surface, after obtaining a plurality of sub-areas for each placing surface, further comprises:

6. The method of claim 4, wherein prior to placing the at least one item to be placed on the at least one placing surface based on the plurality of sub-regions, further comprising:

7. The method of any one of claims 1-6, wherein said placing said at least one item to be placed on said at least one placing surface based on said plurality of sub-regions comprises:

8. The method of claim 7, wherein said placing said at least one item to be placed on said at least one placing surface in said sequence of items comprises:

9. The method of claim 8, wherein the parking condition comprises: the article sequence does not comprise articles to be placed, or the placing density of the placing surfaces reaches a set density; wherein the placing density is determined by the ratio of the sum of the bottom areas of at least one article to be placed on the placing surface to the area of the placing surface.

10. The method of claim 8, wherein the determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position comprises:

11. The method of claim 10, wherein the equalization condition comprises: the difference value between the left article placing quantity and the right article placing quantity of the placing surface is smaller than a first set difference value, and the difference value between the upper article placing quantity and the lower article placing quantity of the placing surface is smaller than a second set difference value.

12. The method of claim 10, wherein the determining a second placement position corresponding to the currently placed object, placing the currently placed object at the second placement position, or not placing the currently placed object, comprises:

13. The method of claim 10, wherein the determining the first placement position of the current item to be placed according to the recommendation degree distribution table corresponding to the current item to be placed comprises:

14. The method of claim 13, wherein the determining at least one of the sub-regions based on the recommendation distribution table comprises:

15. The method of claim 13, wherein said determining the first pose location based on the at least one center coordinate comprises:

16. An automatic article placing device, comprising:

an article placing module, configured to place the at least one article to be placed on the at least one placing surface based on the plurality of sub-areas; the ratio of the sum of the bottom areas of at least one article to be placed on each placing surface to the area of the placing surface is smaller than a preset threshold value;

the placing surface dividing module is specifically configured to determine, for each placing surface of the at least one placing surface, a minimum circumscribed rectangle based on the placing surface; dividing the minimum external rectangle to obtain n × m sub-rectangle frames; wherein n and m are integers greater than 1; and obtaining a plurality of sub-regions corresponding to the placing surface based on the n-m sub-rectangular frames.

17. The apparatus of claim 16, wherein the posed-face segmentation module, when deriving the plurality of sub-regions corresponding to the posed face based on the n × m sub-rectangular boxes, is configured to determine an area fraction of the posed face included in each of the n × m sub-rectangular boxes; in response to the area ratio being greater than or equal to a set ratio, determining the sub-rectangular frame as the sub-region; determining that the sub-rectangular box is not the sub-region in response to the area ratio being less than the set ratio.

18. The apparatus of claim 16, further comprising:

19. The apparatus of claim 18, wherein the category label comprises: bottom space, top surface of table top and shelf partition board;

20. The apparatus of claim 19, further comprising:

21. The apparatus of claim 19, further comprising:

22. The apparatus of any one of claims 16-21, wherein the item presentation module comprises:

23. The apparatus according to claim 22, wherein the in-order placing unit is specifically configured to take the article to be placed with the highest priority from the sequence of articles as the current article to be placed; determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position; judging whether the placing stopping condition is met, if so, stopping placing, and ending; otherwise, deleting the current article to be placed from the article sequence, and iteratively executing: taking the article to be placed with the highest priority in the article sequence as the current article to be placed; and determining the placement position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and placing the current article to be placed according to the placement position.

24. The apparatus of claim 23, wherein the parked condition comprises: the article sequence does not comprise articles to be placed, or the placing density of the placing surfaces reaches a set density; wherein the placing density is determined by the ratio of the sum of the bottom areas of at least one article to be placed on the placing surface to the area of the placing surface.

25. The apparatus according to claim 23, wherein the in-sequence placing unit is configured to determine a placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, and when placing the current article to be placed according to the placing position, determine a first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; the first placing position is not overlapped with an occupied position corresponding to an article to be placed on the placing surface; determining whether the placing surface meets a balance condition according to the first placing position and an occupation position corresponding to the article to be placed on the placing surface; in response to the placing surface meeting the balance condition, placing the current article to be placed at the first placing position; and in response to the placing face not meeting the balance condition, determining a second placing position corresponding to the current article to be placed, and placing the current article to be placed at the second placing position or not placing the current article to be placed.

26. The apparatus of claim 25, wherein the equalization condition comprises: the difference value between the left article placing quantity and the right article placing quantity of the placing surface is smaller than a first set difference value, and the difference value between the upper article placing quantity and the lower article placing quantity of the placing surface is smaller than a second set difference value.

27. The apparatus of claim 25, wherein the sequential placing unit, when determining a second placing position corresponding to the currently placed object, placing the currently placed object at the second placing position, or not placing the currently placed object, is configured to perform iteratively: determining a second placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed; determining whether the placing surface meets a balance condition according to the second placing position and the position corresponding to the article to be placed on the placing surface; the second placing position is not overlapped with the occupied position corresponding to the article to be placed on the placing surface; placing the current article to be placed at the second placing position until the placing surface meets the balance condition; or when the iteration times reach the set times, the current article to be placed is not placed.

28. The apparatus according to claim 25, wherein the sequential placing unit, when determining the first placing position of the current article to be placed according to the recommendation degree distribution table corresponding to the current article to be placed, is configured to determine at least one of the sub-regions based on the recommendation degree distribution table; determining center coordinates of each of the at least one sub-region based on the set of region points for the corresponding at least one sub-region; determining the first pose location based on the at least one center coordinate.

29. The apparatus of claim 28, wherein the in-order placing unit, when determining at least one of the sub-regions based on the recommendation degree distribution table, is configured to determine a random number, and determine a disturbance probability of the current item to be placed based on the random number; and determining at least one sub-region corresponding to the position with the highest recommendation degree in the recommendation degree distribution table corresponding to the current article to be placed or at least one sub-region corresponding to the position with the second highest recommendation degree based on the disturbance probability.

30. The apparatus of claim 28, wherein said sequential pose unit, when determining said first pose location based on said at least one center coordinate, is configured to determine a pose center coordinate based on said at least one center coordinate; and determining the center and the area of the first placing position based on the placing center coordinate, the bottom area of the current article to be placed and the reserved allowance of the current article to be placed, and taking the first placing position as the occupied position of the placing surface.

31. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the automatic item placement method according to any one of claims 1 to 15.

32. An electronic device, characterized in that the electronic device comprises:

a processor;

a memory for storing the processor-executable instructions;

the processor is configured to read the executable instructions from the memory and execute the instructions to implement the automatic article placing method according to any one of claims 1 to 15.