CN112488429B - Two-dimensional irregular layout blanking method based on scanning line method - Google Patents
Two-dimensional irregular layout blanking method based on scanning line method Download PDFInfo
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Abstract
The invention discloses a two-dimensional irregular layout blanking method based on a scanning line method, which comprises the following steps of: step A: scanning the target panel container and the irregular parts to form a line; and B: randomly sequencing the part scanning lines of each irregular part to generate a part scanning line sequence; and C: and performing overlapping detection on the part scanning lines of the irregular part according to the sequence of the part scanning line sequence, wherein the part scanning lines of the irregular part traverse the corresponding positions on each panel scanning line of the target panel container according to the sequence of the part scanning lines. Step D: evaluating the placement feasibility of each of the irregular parts for each location; step E: and selecting the irregular parts with highest feasibility to be placed at corresponding positions. The two-dimensional irregular layout blanking method based on the scanning line method solves the problems of long time consumption and large memory occupation of the conventional irregular layout blanking method.
Description
Technical Field
The invention relates to the technical field of industrial stock layout blanking, in particular to a scanning line method-based two-dimensional irregular stock layout blanking method.
Background
The problem of two-dimensional irregular layout blanking is seen everywhere in industrial manufacturing, such as industries of cloth processing, steel plate processing, leather processing, plate processing, sheet metal processing and the like. In the manufacturing industry, the raw material cost is one of the problems which must be faced all the time, the problem of stock layout and blanking is generated at the same time, and a channel is provided for improving the utilization rate of the raw materials and reducing the raw material cost.
Since the facing parts are often irregularly shaped in actual production, the problem of two-dimensional irregular pattern blanking is derived from the problem of pattern blanking. What kind of geometric tools are used to express parts, the placement order of parts, the strategy used for placing parts, and the search strategy of available layouts all influence the layout results and the layout rate to a great extent.
The existing geometric workers for solving the problem of irregular stock layout and blanking have critical polygons, pixel point methods and the like. The method of critical parts has the disadvantage that it takes a very long time to initialize the critical parts and to perform the overlay detection subsequently; the pixel method has the disadvantages that although the time consumed by initialization and overlapping detection is not long as a critical part is not long, the memory consumption is obvious, the precision is low, and under the condition of simultaneously filling the pixels in two dimensions, if the precision is ensured, the filling density must be high, but the performance is lower, and the memory occupation is larger.
Disclosure of Invention
In view of the above defects, the present invention provides a two-dimensional irregular layout blanking method based on a scanning line method, which solves the problems of long time consumption and large memory occupation of the conventional irregular layout blanking method.
In order to achieve the purpose, the invention adopts the following technical scheme: a two-dimensional irregular stock layout blanking method based on a scanning line method comprises the following steps:
step A: scanning the target panel container and the irregular parts to obtain a panel scanning line and a part scanning line;
and B: randomly sequencing the part scanning lines of each irregular part to generate a part scanning line sequence;
and C: overlapping detection is carried out on the part scanning lines of the irregular parts according to the sequence of the part scanning line sequences, and the part scanning lines of the irregular parts traverse corresponding positions on each panel scanning line of the target panel container according to the sequence of the part scanning lines;
step D: evaluating the placement feasibility of each of the irregular parts for each location;
step E: and selecting the irregular parts with highest feasibility to be placed at corresponding positions.
For example, the step a specifically includes:
step A1: selecting a precision k;
step A2: filling the target panel container into a plurality of panel scan lines with a precision k according to a dimension of the target panel container in a vertical direction;
step A3: filling the irregular parts into a plurality of part scanning line layers with the precision k according to the size of the irregular parts in the vertical direction, wherein each part scanning line layer comprises one or more part scanning lines;
step A4: obtaining an x value of each corresponding part scanning line according to a y value of each part scanning line of the irregular part in the vertical direction, wherein the y value is obtained through the size of the irregular part in the y direction of an envelope rectangle, and the x value is obtained through end points at two ends of each part scanning line of the irregular part in the y direction;
step A5: and arranging according to the x value of the part scanning lines of each layer of the part scanning line layer, and storing into a part scanning line table.
It should be noted that, in the step a2, a step size is set when the target panel container is scanned and linearized, where the step size is one thousandth of the width of the target panel container multiplied by the precision k.
Optionally, step C specifically includes: and sequentially moving the irregular parts to the corresponding positions on each panel scanning line of the target panel container according to a left-lower principle, and searching the minimum x value which can be placed on each panel scanning line through the step length dynamic adjustment.
Specifically, in the step C, the step size is dynamically adjusted as follows: when the position of the target panel container is subjected to overlap detection, when the part scanning line of the placed irregular part is overlapped with the part scanning line of the currently placed irregular part, the part scanning line of the placed irregular part and the part scanning line of the currently placed irregular part form an overlap difference value, the overlap difference value is compared with the maximum difference value when the currently placed irregular part is placed at the position, and when the overlap difference value is larger than the maximum difference value, the overlap difference value is updated to be used as a step length.
Preferably, the step D specifically includes: the evaluation function for evaluating the placement feasibility of each irregular part for each position comprises a plurality of penalty functions and reward functions, scores of all the penalty functions and reward functions are calculated, and then the scores are added to obtain the score of each irregular part in each position.
For example, in step D, the penalty function includes: a first penalty function and a second penalty function;
the first penalty function is: multiplying a ratio of a distance value between a part scanning line of the irregular part and the boundary of the target panel container and a minimum side length value of an envelope rectangle of the irregular part which is not placed by a first penalty proportion;
the second penalty function is: and multiplying the ratio of the minimum x value of the part scanning line of the irregular part to the transverse length of the current layout of the irregular part by a second penalty proportion.
It should be noted that, in the step D, the reward function includes: a first reward function, a second reward function, a third reward function, and a fourth reward function;
the first reward function is: multiplying the ratio of the area of the irregular part to the area of the irregular part with the smallest area by a first reward specific gravity;
the second reward function is: multiplying a ratio of the area of the irregular part to the area of an enveloping rectangle of the irregular part by a second reward specific gravity;
the third reward function is: multiplying the ratio of the centroids of the enveloping rectangles of the target panel container before and after the irregular parts are placed by a third reward specific gravity;
the fourth reward function is: multiplying the utilization rate of the layout of the target panel container before and after placement of the irregular parts by a fourth reward weight.
Optionally, in the step D, the penalty functions further include a third penalty function, and when the overlap detection of the part scanning lines of the irregular part in the step C is performed, a corresponding score is obtained by calculating the third penalty function;
the third penalty function is: multiplying a ratio of a distance value of a part scan line of the irregular part and a panel scan line of the target panel container closest to the left thereof to a transverse length of the current layout of the irregular part by a third penalty weight, wherein the third penalty weight is-40.
Specifically, the step E specifically includes:
step E1: selecting the irregular part with the highest score in the step D and the corresponding position for placing;
step E2: placing the irregular parts at the corresponding positions of the target panel container;
step E3: and E1 and E2 are repeated until all the irregular parts are placed.
The invention has the beneficial effects that: the two-dimensional irregular layout blanking method based on the scanning line method adopts the scanning line method to express irregular parts, namely, the irregular parts are filled in a line segment mode, the method is only used for filling in one dimension, and the precision of the other dimension is ensured; meanwhile, only one-dimensional data needs to be stored, so that time is saved when an irregular part is initialized compared with a method of a critical part, and memory occupation is greatly reduced in magnitude compared with a pixel point method; when the overlapping detection is carried out, not only the number of detection only needs the order of magnitude of one dimension, but also the calculation needed by the detection is not complicated. The overlap detection is to correspond the part scanning lines of the irregular parts to the panel scanning lines of the position expected to be placed on the target panel container, and detect by judging whether each part scanning line and the part scanning lines stored on the panel scanning lines overlap. The adjacent part scanning lines and the part scanning lines stored on the panel scanning lines are the same in most cases, if the sequential traversal is time-consuming, the scanning lines are selected for detection by adopting a randomly generated sequence of the part scanning lines, and compared with a method of a critical polygon, the method can save time.
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Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The following disclosure provides many different embodiments or examples for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, embodiments of the invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
As shown in fig. 1, a two-dimensional irregular layout blanking method based on a scanning line method comprises the following steps:
step A: scanning the target panel container and the irregular parts to obtain a panel scanning line and a part scanning line;
and B: randomly sequencing the part scanning lines of each irregular part to generate a part scanning line sequence;
and C: overlapping detection is carried out on the part scanning lines of the irregular parts according to the sequence of the part scanning line sequences, and the part scanning lines of the irregular parts traverse corresponding positions on each panel scanning line of the target panel container according to the sequence of the part scanning lines;
step D: evaluating the placement feasibility of each of the irregular parts for each location;
step E: and selecting the irregular parts with highest feasibility to be placed at corresponding positions.
The two-dimensional irregular layout blanking method based on the scanning line method adopts the scanning line method to express irregular parts, namely, the irregular parts are filled in a line segment mode, the method is only used for filling in one dimension, and the precision of the other dimension is ensured; meanwhile, only one-dimensional data needs to be stored, so that time is saved when an irregular part is initialized compared with a method of a critical part, and memory occupation is greatly reduced in magnitude compared with a pixel point method; when the overlapping detection is carried out, not only the number of detection only needs the order of magnitude of one dimension, but also the calculation needed by the detection is not complicated. The overlap detection is to correspond the part scanning lines of the irregular parts to the panel scanning lines of the position expected to be placed on the target panel container, and detect by judging whether each part scanning line and the part scanning lines stored on the panel scanning lines overlap. The adjacent part scanning lines and the part scanning lines stored on the panel scanning lines are the same in most cases, if the sequential traversal is time-consuming, the scanning lines are selected for detection by adopting a randomly generated sequence of the part scanning lines, and compared with a method of a critical polygon, the method can save time.
In some embodiments, the step a specifically includes:
step A1: selecting a precision k;
step A2: filling the target panel container into a plurality of panel scan lines with a precision k according to a dimension of the target panel container in a vertical direction;
step A3: filling the irregular parts into a plurality of part scanning line layers with the precision k according to the size of the irregular parts in the vertical direction, wherein each part scanning line layer comprises one or more part scanning lines;
step A4: obtaining an x value of each corresponding part scanning line according to a y value of each part scanning line of the irregular part in the vertical direction, wherein the y value is obtained through the size of the irregular part in the y direction of an envelope rectangle, and the x value is obtained through end points at two ends of each part scanning line of the irregular part in the y direction;
step A5: and arranging according to the x value of the part scanning lines of each layer of the part scanning line layer, and storing into a part scanning line table.
The accuracy k is equivalent to expanding a given dimension by a factor of k, filling k panel scan lines or part scan lines per 1mm in the vertical direction. The dimensions of the irregular parts in the vertical direction are given in the original data.
For example, in step a2, a step size is set when the target panel container is scanned and linearized, where the step size is one thousandth of the width of the target panel container multiplied by the precision k.
And forming a plurality of panel scanning line layers when the target panel container is in scanning line formation, wherein each layer of scanning line layer comprises a plurality of panel scanning lines, and the number of the panel scanning line layers is equal to the number of the panel scanning lines under the precision k divided by the step length. The step size refers to the number of scan lines per layer. After layering, the panel scan lines of each layer are scanned synchronously, and layering can reduce the time for retrieving the panel scan lines of the target panel container. When the size of the target panel container is too large, the judgment scores obtained when the part scanning lines of the irregular parts are placed are usually similar, but when the size of the target panel container is smaller, a set step length can ignore many solutions, so that the step length is one thousandth of the product of the width of the target panel container and the precision k, and when the size of the target panel container is larger, too many solutions can not be ignored for the target panel container with the smaller size.
It is worth to be noted that, the step C specifically includes: and sequentially moving the irregular parts to the corresponding positions on each panel scanning line of the target panel container according to a left-lower principle, and searching the minimum x value which can be placed on each panel scanning line through the step length dynamic adjustment.
The step is to judge whether the irregular parts are overlapped or not by judging whether the line segments are overlapped or not, select coordinates according to the search step length of step length dynamic adjustment according to a left-down principle, and select the appropriate irregular parts to place by judging the placement feasibility of the parts.
Optionally, in step C, the step size is dynamically adjusted to: when the position of the target panel container is subjected to overlap detection, when the part scanning line of the placed irregular part is overlapped with the part scanning line of the currently placed irregular part, the part scanning line of the placed irregular part and the part scanning line of the currently placed irregular part form an overlap difference value, the overlap difference value is compared with the maximum difference value when the currently placed irregular part is placed at the position, and when the overlap difference value is larger than the maximum difference value, the overlap difference value is updated to be used as a step length.
Compared with a fixed search step length, the layout method disclosed by the invention has the advantages that the feasible layout is searched by adopting the dynamically adjusted search step length, so that the layout speed is favorably increased, and a more compact layout is favorably searched. And when the step length is not an integer, rounding up is performed, so that the condition that the part scanning lines of irregular parts and the panel scanning lines on the target panel container cannot be subjected to one-to-one correspondence detection when the target panel container is traversed is avoided. Because the panel scanning lines on the target panel container store the part scanning lines of the placed irregular parts at the corresponding positions, when the overlapping detection is carried out, if the overlapping occurs, an overlapping difference value can be formed between the two part scanning lines, the overlapping difference value is compared with the maximum difference value of the irregular parts placed at the positions at present, and if the overlapping difference value is larger than the maximum difference value, the difference value is updated to be used as a step length, and the step length dynamic adjustment is carried out.
Specifically, the step D specifically includes: the evaluation function for evaluating the placement feasibility of each irregular part for each position comprises a plurality of penalty functions and reward functions, scores of all the penalty functions and reward functions are calculated, and then the scores are added to obtain the score of each irregular part in each position.
The method adopts the evaluation function for judging the placement feasibility of each part, compared with the traditional left-down principle that the parts are placed according to a certain arrangement sequence, the influence of the placed parts on the final layout can be considered, and the influence of the arrangement sequence considering a single factor on the final result is avoided through real-time adjustment during each placement. The scores of the penalty functions are negative values, the scores of the reward functions are positive values, the evaluation is carried out once every time, and the scores are finally obtained by multiplying the positive value scores and the negative value scores of all contents in the evaluation functions by corresponding ratios respectively and then adding the positive value scores and the negative value scores.
Preferably, in the step D, the penalty function includes: a first penalty function and a second penalty function;
the first penalty function is: multiplying a ratio of a distance value between a part scanning line of the irregular part and the boundary of the target panel container and a minimum side length value of an envelope rectangle of the irregular part which is not placed by a first penalty specific gravity, wherein the first penalty specific gravity is-10;
the second penalty function is: multiplying a ratio of a minimum x value of a part scan line of the irregular part to a lateral length of a current layout of the irregular part by a second penalty weight, wherein the second penalty weight is-30.
The principle of the first penalty function is as follows: after the irregular parts are placed, a distance value is generated on the boundary of the target panel container, if the distance value is shorter than the length of the envelope rectangle of the irregular parts which are not placed in the vertical or horizontal direction, certain waste is caused, and certain punishment needs to be carried out on the phenomenon.
The principle of the second penalty function is as follows: when the minimum x value of each part scanning line of the irregular part, which does not overlap, is selected for placement, the smaller the minimum x value is, the more compact the layout can be represented by comparing the minimum x values of different part scanning lines.
In some embodiments, in the step D, the reward function includes: a first reward function, a second reward function, a third reward function, and a fourth reward function;
the first reward function is: multiplying the ratio of the area of the irregular part to the area of the irregular part with the smallest area by a first reward specific gravity, wherein the first reward specific gravity is 10;
the second reward function is: multiplying the ratio of the area of the irregular part to the area of the enveloping rectangle of the irregular part by a second reward specific gravity, wherein the second reward specific gravity is 50;
the third reward function is: multiplying the ratio of the centroids of the enveloping rectangles of the target panel container before and after the irregular parts are placed by a third reward specific gravity, wherein the third reward specific gravity is 30;
the fourth reward function is: multiplying the utilization ratio of the layout of the target panel container before and after the irregular parts are placed by a fourth reward specific gravity, wherein the fourth reward specific gravity is 4.
The principle of the first reward function is as follows: the geometry of the irregular parts determines that the irregular parts with larger areas are placed first to be more beneficial to the utilization rate of the overall layout, and therefore the irregular parts with larger areas are rewarded.
The principle of the second reward function is as follows: the geometric irregularity of the irregular part determines that the smaller the ratio of the area of the irregular part to the area of the envelope rectangle of the irregular part is, the placement is first performed, and the utilization rate of the overall layout is more facilitated.
The principle of the third reward function is as follows: before and after each irregular part is placed, an envelope rectangle is generated for the whole layout of the target panel container, and the smaller the difference between the centroids of the envelope rectangles before and after placement, the more compact the layout is represented.
The principle of the fourth reward function is as follows: the utilization rate generated before and after placement also has certain reference significance to the utilization rate of the final overall layout.
For example, in the step D, the penalty functions further include a third penalty function, and when the overlap detection of the part scan line of the irregular part in the step C is performed, a corresponding score is obtained by calculating the third penalty function;
the third penalty function is: multiplying a ratio of a distance value of a part scan line of the irregular part and a panel scan line of the target panel container closest to the left thereof to a transverse length of the current layout of the irregular part by a third penalty weight, wherein the third penalty weight is-40.
The principle of the third penalty function is as follows: when detecting whether each part scanning line of an irregular part is overlapped, if the distance value of the panel scanning line closest to the target panel container on the left side of the irregular part is smaller under the condition of no overlapping, the part is placed more compactly.
It is worth to be noted that, the step E specifically includes:
step E1: selecting the irregular part with the highest score in the step D and the corresponding position for placing;
step E2: placing the irregular parts at the corresponding positions of the target panel container;
step E3: and E1 and E2 are repeated until all the irregular parts are placed.
And finally placing all the irregular parts in the target panel container through the steps.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A two-dimensional irregular layout blanking method based on a scanning line method is characterized in that: the method comprises the following steps:
step A: scanning the target panel container and the irregular parts to obtain a panel scanning line and a part scanning line;
the step A specifically comprises the following steps:
step A1: selecting a precision k;
step A2: filling the target panel container into a plurality of panel scan lines with a precision k according to a dimension of the target panel container in a vertical direction;
in the step a2, a step length is set when the target panel container is scanned and linearized, where the step length is one thousandth of the width of the target panel container multiplied by the precision k;
step A3: filling the irregular parts into a plurality of part scanning line layers with the precision k according to the size of the irregular parts in the vertical direction, wherein each part scanning line layer comprises one or more part scanning lines;
step A4: obtaining an x value of each corresponding part scanning line according to a y value of each part scanning line of the irregular part in the vertical direction, wherein the y value is obtained through the size of the irregular part in the y direction of an envelope rectangle, and the x value is obtained through end points at two ends of each part scanning line of the irregular part in the y direction;
step A5: arranging according to the x value of the part scanning lines of each layer of the part scanning line layer, and storing into a part scanning line table;
and B: randomly sequencing the part scanning lines of each irregular part to generate a part scanning line sequence;
and C: overlapping detection is carried out on the part scanning lines of the irregular parts according to the sequence of the part scanning line sequences, and the part scanning lines of the irregular parts traverse corresponding positions on each panel scanning line of the target panel container according to the sequence of the part scanning lines;
the step C is specifically as follows: sequentially moving the irregular parts to corresponding positions on each panel scanning line of the target panel container according to a left-down principle, and searching a minimum x value which can be placed on each panel scanning line through the step length dynamic adjustment;
in the step C, the step size is dynamically adjusted as follows: when the position of the target panel container is subjected to overlap detection, when a part scanning line of a placed irregular part is overlapped with a part scanning line of a currently placed irregular part, an overlap difference value is formed between the part scanning line of the placed irregular part and the part scanning line of the currently placed irregular part, the overlap difference value is compared with a maximum difference value when the currently placed irregular part is placed at the position, and when the overlap difference value is larger than the maximum difference value, the overlap difference value is updated to be used as a step length;
step D: evaluating the placement feasibility of each of the irregular parts for each location;
step E: and selecting the irregular parts with highest feasibility to be placed at corresponding positions.
2. The two-dimensional irregular layout blanking method based on the scanning line method as claimed in claim 1, wherein the step D specifically comprises: the evaluation function for evaluating the placement feasibility of each irregular part for each position comprises a plurality of penalty functions and reward functions, scores of all the penalty functions and reward functions are calculated, and then the scores are added to obtain the score of each irregular part in each position.
3. The two-dimensional irregular layout blanking method based on the scanning line method as claimed in claim 2, characterized in that: in step D, the penalty function includes: a first penalty function and a second penalty function;
the first penalty function is: multiplying a ratio of a distance value between a part scanning line of the irregular part and the boundary of the target panel container and a minimum side length value of an envelope rectangle of the irregular part which is not placed by a first penalty specific gravity, wherein the first penalty specific gravity is-10;
the second penalty function is: multiplying a ratio of a minimum x value of a part scan line of the irregular part to a lateral length of a current layout of the irregular part by a second penalty weight, wherein the second penalty weight is-30.
4. The two-dimensional irregular layout blanking method based on the scanning line method as claimed in claim 3, characterized in that: in step D, the reward function includes: a first reward function, a second reward function, a third reward function, and a fourth reward function;
the first reward function is: multiplying the ratio of the area of the irregular part to the area of the irregular part with the smallest area by a first reward specific gravity, wherein the first reward specific gravity is 10;
the second reward function is: multiplying the ratio of the area of the irregular part to the area of the enveloping rectangle of the irregular part by a second reward specific gravity, wherein the second reward specific gravity is 50;
the third reward function is: multiplying the ratio of the centroids of the enveloping rectangles of the target panel container before and after the irregular parts are placed by a third reward specific gravity, wherein the third reward specific gravity is 30;
the fourth reward function is: multiplying the utilization ratio of the layout of the target panel container before and after the irregular parts are placed by a fourth reward specific gravity, wherein the fourth reward specific gravity is 4.
5. The two-dimensional irregular layout blanking method based on the scanning line method as claimed in claim 4, characterized in that: in the step D, the penalty functions further include a third penalty function, and when the overlap detection of the part scanning lines of the irregular part in the step C is performed, a corresponding score is obtained by calculating the third penalty function;
the third penalty function is: multiplying a ratio of a distance value of a part scan line of the irregular part and a panel scan line of the target panel container closest to the left thereof to a transverse length of the current layout of the irregular part by a third penalty weight, wherein the third penalty weight is-40.
6. The two-dimensional irregular layout blanking method based on the scanning line method as claimed in claim 5, wherein the step E is specifically as follows:
step E1: selecting the irregular part with the highest score in the step D and the corresponding position for placing;
step E2: placing the irregular parts at the corresponding positions of the target panel container;
step E3: and E1 and E2 are repeated until all the irregular parts are placed.
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