WO2022011979A1 - 一种在线装箱方法、终端及存储介质 - Google Patents

一种在线装箱方法、终端及存储介质 Download PDF

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Publication number
WO2022011979A1
WO2022011979A1 PCT/CN2020/139668 CN2020139668W WO2022011979A1 WO 2022011979 A1 WO2022011979 A1 WO 2022011979A1 CN 2020139668 W CN2020139668 W CN 2020139668W WO 2022011979 A1 WO2022011979 A1 WO 2022011979A1
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Prior art keywords
space
vertex
packed
placement
target
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French (fr)
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许宜诚
张涌
宁立
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"

Definitions

  • the present application belongs to the technical field of packing, and in particular relates to an online packing method, a terminal and a storage medium.
  • the present application provides an online box packing method, terminal and storage medium, aiming to solve one of the above technical problems in the prior art at least to a certain extent.
  • An online box packing method comprising the following steps:
  • the vertex position of the placeable space determine the target placement space of the item to be packed in at least one of the placeable spaces
  • the size of the space that can be placed is the same as the size of the occupied space.
  • the technical solution adopted in the embodiment of the present application further includes: before the obtaining of the placeable space of the item to be packed according to the first size, the occupied space and the occupied space includes:
  • the occupied space is the smallest cuboid space that does not interfere with the items to be packed when accommodating the items to be packed.
  • the technical solution adopted in the embodiment of the present application further includes: the obtaining of the placeable space of the item to be packed according to the first size, the occupied space and the occupied space includes:
  • the first preset condition is:
  • Any vertex of the placement space is inside the box and any vertex of the placement space is not inside the occupied space;
  • the second preset condition is:
  • the bottom surface of the placement space is parallel to the bottom surface of the box.
  • the four vertices of the bottom surface of the placing space are all on the bottom surface of the box or the four vertices of the bottom surface of the placing space are all on a plane of the occupied space.
  • the technical solution adopted in the embodiment of the present application further includes: the obtaining of the placeable space of the item to be packed according to the first size, the occupied space and the occupied space includes:
  • the third preset condition is:
  • the position of the first vertex of the placement space is the preset target point
  • the first vertex is the vertex closest to the preset vertex of the placement space and the box
  • the preset target point is the preset target point.
  • the point with the largest distance in the X direction but the smallest distance in the Y direction and the Z direction from the preset vertex of the box, or the point with the largest distance in the Y direction but the smallest distance in the X direction and the Z direction from the preset vertex The point or the point with the largest distance in the Z direction but the smallest distance in the X and Y directions from the preset vertex.
  • the technical solution adopted in the embodiment of the present application further includes: the determining of the target placement space of the item to be packed in at least one of the placeable spaces according to the vertex position of the placeable space includes:
  • the target vertex is the vertex with the largest distance from the preset vertex among the vertexes in the placeable space.
  • the technical solution adopted in the embodiment of the present application further includes: before determining the target placement space of the items to be packed in at least one of the placeable spaces according to the vertex positions of the respective placeable spaces, it includes:
  • Each of the putable spaces is screened according to the putable posture, and at least one of the putable spaces matching the putable posture is reserved.
  • the technical solution adopted in the embodiment of the present application further includes: the acquiring the target placement posture corresponding to the target placement space includes:
  • the object pose corresponding to when the occupied space coincides with the target placement space is used as the target placement pose.
  • the technical solution adopted in the embodiment of the present application further includes: after the acquiring the target placement posture corresponding to the target placement space, further includes: updating the occupied space.
  • a terminal includes a processor and a memory coupled to the processor, wherein,
  • the memory stores program instructions for implementing the online packing method
  • the processor is configured to execute the program instructions stored in the memory to control in-line binning.
  • a storage medium storing program instructions executable by a processor, where the program instructions are used to execute the online box packing method.
  • the beneficial effects of the embodiments of the present application are: the online box packing method, the terminal and the storage medium according to the embodiments of the present application calculate the target placement space of the items to be packed and the corresponding The target placement posture can achieve real-time acquisition of the appropriate placement position when the item arrives, thereby saving the number of boxes used as much as possible and saving the cost of item transportation.
  • Fig. 1 is the flow chart of the online packing method of the embodiment of the present application
  • Figure 2 is a schematic diagram of three new three-dimensional line vectors added when Cand is updated
  • FIG. 3 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a storage medium provided by an embodiment of the present application.
  • FIG. 1 is a flowchart of an online box packing method according to an embodiment of the present application.
  • the online packing method of the embodiment of the present application includes the following steps:
  • Step 100 Obtain the first size of the box for performing the packing task, the occupied space of the items to be packed, and the occupied space of the items already packed in the box, and obtain the to-be-packed space according to the first size, the occupied space and the occupied space The space that can be placed in the box;
  • the first size includes the length, width and height of the box.
  • the embodiment of the present application uses a six-dimensional array (identified by items hereinafter) to represent the occupied space of the loaded items in the box.
  • the six-dimensional array items is a matrix with n rows and six columns, where n represents the number of items placed in the current box, and each row represents the placement space corresponding to a placed item; arbitrarily select a vertex on the bottom of the box as the origin (that is, the point whose coordinates are [0 0 0]), and establishes the horizontal, vertical and vertical axes of the Cartesian coordinate system along the sides of the box from the origin.
  • each row of the six-dimensional array is [horizontal of the placement space. Axis start value, horizontal axis size of placement space, vertical axis start value of placement space, vertical axis size of placement space, vertical axis start value of placement space, vertical axis size of placement space], It can be understood that the recording order of each value in the six-dimensional row vector can be adjusted arbitrarily.
  • initial items [0 0 0 0 0 0].
  • the obtaining of the placeable space for the items to be packed according to the first size, the occupied space and the occupied space further includes:
  • a second size of the item to be packed is acquired, and the occupied space corresponding to the item to be packed is acquired according to the second size.
  • the second size of the item to be packed includes, but is not limited to, the length of each side of the item to be packed, etc. According to the second size of the item to be packed, it can be obtained when the item to be packed is accommodated The smallest cuboid space that does not interfere with the item.
  • the acquiring the placeable space of the item to be packed according to the first size, the occupied space and the occupied space further includes:
  • the size of the space that can be placed is the same as the size of the occupied space; when the space that is consistent with the size of the occupied space satisfies the first preset condition and the second preset condition at the same time, it is determined that the placement space is a space that can be placed;
  • the first preset condition is:
  • Any vertex of the placement space is inside the box and no vertex of the placement space is inside the occupied space.
  • A, B, and C can be used to represent the length, width, and height of the box to perform the packing task, that is, the first size of the box, and a vertex on the bottom surface of the box is selected as the origin (that is, the coordinates are [0 0 0 ]), and starting from the origin, the horizontal, vertical and vertical axes of the Cartesian coordinate system are established along the sides of the box.
  • an array item can be used to identify the placement space with the same size as the occupied space, and the style of the item is: [the horizontal dimension of the placement space Axis start value, horizontal axis size of placement space, vertical axis start value of placement space, vertical axis size of placement space, vertical axis start value of placement space, vertical axis size of placement space],
  • [xaybzc] means that (x, y, z) is The vertex, the horizontal axis size is a, the vertical axis size is b, and the vertical axis size is the placement space of c.
  • the second preset condition is:
  • the bottom surface of the placement space is parallel to the bottom surface of the box.
  • the four vertices of the bottom surface of the placing space are all on the bottom surface of the box or the four vertices of the bottom surface of the placing space are all on a plane of the occupied space.
  • the placement space satisfies the second preset condition, it means that the object to be packed can be kept in balance after being placed in the placement space.
  • the third preset condition is:
  • the position of the first vertex of the placement space is a preset target point
  • the preset target point is the distance in the X direction from the preset vertex of the box among the vertices of the occupied space, but the distance in the Y direction and the Z direction is the largest.
  • the first vertex is the vertex that is closest to the preset vertex of the box, and the preset vertex of the box is the origin of the coordinate system; that is, the placement space is away from the point [0 0 0]
  • the closest vertex is the point with the largest distance in the X direction from the preset vertex of the box but the smallest distance in the Y direction and the Z direction among the vertices of the occupied space or the distance from the preset vertex in the Y direction
  • the placement space is determined to be a placeable space.
  • the online packing method further includes:
  • Step 110 Determine a target placement space of the item to be packed in at least one placeable space according to the vertex position of the placeable space.
  • a robotic arm can be used to place the items to be packed, and a rotatable robotic arm can rotate the items to be packed.
  • a three-axis rotatable robotic arm can achieve The rotation of the item to be packed in the three directions of XYZ can support the conversion of the item to be packed into three attitudes, while a partially rotating robotic arm, such as a horizontal rotating robotic arm, can only realize the mutual length and width of the item.
  • the posture of the items to be packed is limited, therefore, in a possible implementation, the method further includes:
  • A, b, and c are used to represent the length, width, and height of the item to be packed, that is, the second size parameter of the item.
  • a three-dimensional array can be used to identify the posture of the item to be packed. The format is: [the horizontal axis occupies space when placed in this posture, the vertical axis occupies space when placed in this posture, and the vertical axis occupies space when placed in this posture], for example, the posture of the item to be packed is [ a bc], then the items to be packed will occupy the [x, x+a] interval on the horizontal axis of the box, the [y, y+b] interval on the vertical axis, and The interval [z, z+c] of the vertical axis.
  • the posture [a b c] may also be height, length, width, etc.
  • the current posture of the item to be packed is [3 2 4]
  • the robotic arm used for packing the item to be packed only supports horizontal rotation, that is, only the length and width of the item can be interchanged , and the item cannot be turned upside down or down (the length of the vertical axis of the item cannot be changed), then the poses of the item to be packed are [3 2 4], [2 3 4].
  • the putable space corresponding to the putable pose can be obtained.
  • the putable pose is [3 2 4], [2 3 4],
  • the corresponding available placement spaces are a placement space with a length of 3, a width of 2, and a height of 4, and a placement space with a length of 2, a width of 3, and a height of 4.
  • the determining the target placement space of the item to be packed in at least one of the placeable spaces according to the vertex position of the placeable space includes:
  • the target vertex is the vertex with the largest distance from the preset vertex among the vertexes in the placeable space.
  • the target placement space of the items to be packed is determined in at least one of the placeable spaces, and specifically, the origin of the box is taken as a preset vertex (ie The point whose coordinates are [0 0 0]), for each placeable space, obtain the distance between each vertex of the placeable space and the preset vertex, and select the vertex with the largest distance As the target vertex, the distance between the target vertex corresponding to each of the placeable spaces and the preset vertex is compared, and the smallest placeable space is selected as the target placement space.
  • a preset vertex ie The point whose coordinates are [0 0 0]
  • the distance between the target vertex and the preset vertex is directly related to the placement posture of the item corresponding to the placeable space, which can be
  • the article placement posture corresponding to the placement space refers to the posture corresponding to when the occupied space of the to-be-packed article coincides with the placeable space.
  • Table 1 shows the correspondence between the placement postures corresponding to the respective placement spaces having the same vertex and the distances between the target vertex and the preset vertex.
  • the placement posture is selected as [2,3, 4] or the placeable space corresponding to [4, 2, 3] as the target placement space.
  • Step 120 Obtain a target placement posture corresponding to the target placement space, so that the items to be packed are placed in the target placement space in the target placement posture.
  • the acquiring the target placement posture corresponding to the target placement space further includes:
  • the object pose corresponding to when the occupied space coincides with the target placement space is used as the target placement pose.
  • the target placement posture is the object posture corresponding to when the occupied space coincides with the target placement space.
  • the method further includes:
  • the occupied space is updated.
  • the robotic arm After acquiring the target placement posture corresponding to the target placement space, the robotic arm can be controlled to place the items to be packed in the target placement space in the target placement posture and perform the same operation on the occupied space.
  • the update process of the occupied space is: adding a six-dimensional row vector of a unified format to the six-dimensional array items to record the target placement space, that is, according to the above-mentioned [horizontal axis of the placement space] Start value, the horizontal axis size of the placement space, the vertical axis start value of the placement space, the vertical axis size of the placement space, the vertical axis start value of the placement space, the vertical axis size of the placement space] format Add a new line to items.
  • 3 new three-dimensional row vectors can be added to the three-dimensional array cand to update all the placement spaces where the new items can be placed.
  • the three three-dimensional line vectors are the coordinates of three of the eight vertices of the newly added item, which are: the point with the largest horizontal axis coordinate but the smallest vertical axis and vertical axis coordinates, and the largest vertical axis coordinate but the horizontal axis and vertical axis. The point with the smallest axis coordinate and the point with the largest vertical axis coordinate but the smallest horizontal and vertical axis coordinates.
  • the three three-dimensional row vectors newly added when Cand is updated are shown as the three points in Figure 2.
  • the online packing method of the embodiment of the present application calculates the target placement space and the corresponding target placement posture of the items to be packed from the occupied space of the packed items, so as to obtain the appropriate placement position in real time when the items arrive. , so as to save the number of boxes as much as possible and save the cost of item transportation.
  • FIG. 3 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • the terminal 50 includes a processor 51 and a memory 52 coupled to the processor 51 .
  • the memory 52 stores program instructions for implementing the above-described on-line packing method.
  • the processor 51 is used to execute program instructions stored in the memory 52 to control in-line packing.
  • the processor 51 may also be referred to as a CPU (Central Processing Unit, central processing unit).
  • the processor 51 may be an integrated circuit chip with signal processing capability.
  • the processor 51 may also be a general purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components .
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • FIG. 4 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
  • the storage medium of this embodiment of the present application stores a program file 61 capable of implementing all the above methods, wherein the program file 61 may be stored in the above-mentioned storage medium in the form of a software product, and includes several instructions to enable a computer device (which can be It is a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the various embodiments of the present invention.
  • a computer device which can be It is a personal computer, a server, or a network device, etc.
  • processor processor
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes , or terminal devices such as computers, servers, mobile phones, and tablets.

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Abstract

一种在线装箱方法、终端及存储介质。所述方法包括：获取执行装箱任务的箱子的第一尺寸、待装箱物品的占用空间以及所述箱子中已装物品的已占用空间，根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间（S100）；根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间（S110）；获取所述目标摆放空间对应的目标摆放姿态，以使得所述待装箱物品以所述目标摆放姿态被摆放至所述目标摆放空间（S120）；其中，所述可摆放空间与所述占用空间大小一致。上述方法可以尽可能地节省使用箱子的数目，节省物品运输成本。

Description

一种在线装箱方法、终端及存储介质 技术领域
本申请属于装箱技术领域，特别涉及一种在线装箱方法、终端及存储介质。
 背景技术
在物流行业中，经常存在货物装箱的问题，在某些物流场景下，例如采用集装箱进行运输的船运等，存在一个货运箱中只存放一个尺寸的货物的情况，每次装箱时，待装箱的货物尺寸已知，那么可以进行提前计算，使得一个集装箱可以装尽可能多的货物，但是，在一些小型物流场景中，例如采用箱型货车进行运输的小件快递，每个货物的尺寸不同，并且并不能提前知晓所有货物的尺寸，而是每来一件货物时人工选择对应的摆放位置。而货物在箱子中的摆放位置直接影响了箱子能够装载的货物的多少。目前，还没有针对这种货物尺寸不同的场景下的自动计算货物的摆放位置的装箱方法。
因此，有必要提供一种新的方案，以在物品到达的时刻实时计算出待装箱物品在箱子中合适的摆放位置，从而尽可能地节省使用箱子的数目，节省货物运输成本。
 技术解决方案
本申请提供了一种在线装箱方法、终端及存储介质，旨在至少在一定程度上解决现有技术中的上述技术问题之一。
为了解决上述问题，本申请提供了如下技术方案：
一种在线装箱方法，包括以下步骤：
获取执行装箱任务的箱子的第一尺寸、待装箱物品的占用空间以及所述箱子中已装物品的已占用空间，根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间；
根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间；
获取所述目标摆放空间对应的目标摆放姿态，以使得所述待装箱物品以所述目标摆放姿态被摆放至所述目标摆放空间；
其中，所述可摆放空间与所述占用空间大小一致。
本申请实施例采取的技术方案还包括：所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间之前包括：
获取所述待装箱物品的第二尺寸，根据所述第二尺寸获取所述待装箱物品对应的所述占用空间；
其中，所述占用空间为容纳所述待装箱物品时不与所述待装箱物品产生干涉的最小的长方体空间。
本申请实施例采取的技术方案还包括：所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间包括：
当与所述占用空间大小一致的摆放空间同时满足第一预设条件和第二预设条件时，确定所述摆放空间为可摆放空间；
其中，所述第一预设条件为：
所述摆放空间的任一顶点均在所述箱子的内部且所述摆放空间的任一顶点均不在所述已占用空间的内部；
所述第二预设条件为：
所述摆放空间的底面平行于所述箱子的底面；并且，
所述摆放空间的底面四个顶点均在所述箱子的底面上或所述摆放空间的底面的四个顶点均在所述已占用空间的一个平面上。
本申请实施例采取的技术方案还包括：所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间包括：
当与所述占用空间大小一致的摆放空间同时满足所述第一预设条件、所述第二预设条件以及第三预设条件时，确定所述摆放空间为可摆放空间；
其中，所述第三预设条件为：
所述摆放空间的第一顶点位置为预设目标点，所述第一顶点为所述摆放空间与所述箱子的预设顶点最接近的顶点，所述预设目标点为所述已占用空间的各个顶点中距所述箱子的预设顶点的X方向距离最大但Y方向和Z方向距离最小的点或距所述预设顶点的Y方向距离最大但X方向和Z方向距离最小的点或距所述预设顶点的Z方向距离最大但X方向和Y方向距离最小的点。
本申请实施例采取的技术方案还包括：所述根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间包括：
获取各个所述可摆放空间的目标顶点与所述箱子的预设顶点的距离；
将目标顶点与所述预设顶点的距离最小的可摆放空间作为所述目标摆放空间；
其中，所述目标顶点为可摆放空间的各个顶点中与所述预设顶点的距离最大的顶点。
本申请实施例采取的技术方案还包括：所述根据所述各个可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间之前包括：
获取所述待装箱物品的当前姿态，根据所述当前姿态获取所述待装箱物品的可摆放姿态；
根据所述可摆放姿态对各个所述可摆放空间进行筛选，保留与所述可摆放姿态匹配的至少一个所述可摆放空间。
本申请实施例采取的技术方案还包括：所述获取所述目标摆放空间对应的目标摆放姿态包括：
将所述占用空间与所述目标摆放空间重合时对应的物品姿态作为所述目标摆放姿态。
本申请实施例采取的技术方案还包括：所述获取所述目标摆放空间对应的目标摆放姿态后还包括：对所述已占用空间进行更新。
本申请实施例采取的又一技术方案为：一种终端，所述终端包括处理器、与所述处理器耦接的存储器，其中，
所述存储器存储有用于实现所述的在线装箱方法的程序指令；
所述处理器用于执行所述存储器存储的所述程序指令以控制在线装箱。
本申请实施例采取的又一技术方案为：一种存储介质，存储有处理器可运行的程序指令，所述程序指令用于执行所述的在线装箱方法。
 有益效果
相对于现有技术，本申请实施例产生的有益效果在于：本申请实施例的在线装箱方法、终端及存储介质通过已装物品的已占用空间计算待装箱物品的目标摆放空间以及对应的目标摆放姿态，能够实现在物品到达时实时获取合适的摆放位置，从而尽可能地节省使用箱子的数目，节省物品运输成本。
 附图说明
图1是本申请实施例的在线装箱方法的流程图；
图2是Cand更新时新增的3个三维行向量示意图；
图3是本申请实施例提供的终端的结构示意图；
图4是本申请实施例提供的存储介质的结构示意图。
 本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
请参阅图1，是本申请实施例的在线装箱方法的流程图。本申请实施例的在线装箱方法包括以下步骤：
步骤100：获取执行装箱任务的箱子的第一尺寸、待装箱物品的占用空间以及该箱子中已装物品的已占用空间，根据第一尺寸、所述占用空间以及已占用空间获取待装箱物品的可摆放空间；
具体地，所述第一尺寸包括箱子的长、宽、高。具体的，为了便于说明，本申请实施例使用六维数组（后面用items标识）表示箱子中已装物品的已占用空间。其中，六维数组items为n行六列的矩阵，其中n表示当前箱子里已摆放物品的数目，每一行表示一个已摆放物品对应的摆放空间；任意选取箱子底面的一个顶点作为原点（即坐标为[0 0 0]的点），并从原点出发沿箱子的边建立笛卡尔坐标系的横轴、纵轴和竖轴，六维数组每一行的格式为 [摆放空间的横轴起始值，摆放空间的横轴尺寸，摆放空间的纵轴起始值，摆放空间的纵轴尺寸，摆放空间的竖轴起始值，摆放空间的竖轴尺寸]，可以理解，六维行向量中各个值的记录顺序可以任意调整。开启一个新箱子时，初始items=[0 0 0 0 0 0]。如果items 为[0 1 0 2 0 3；1 2 0 1 0 1]，则表示箱子里已经摆放了两个物品，分别对应的摆放空间为：以[0 0 0]为顶点，横轴尺寸、纵轴、竖轴尺寸分别为1、2、3的空间以及以[1 0 0]为顶点，横轴尺寸、纵轴、竖轴尺寸分别为2、1、1的空间。所有已摆放物品的摆放空间共同组成了所述已占用空间。当然，本领域技术人员可以理解，作为本发明其他的实现方式，还可以采用其他的方式来记录所述已占用空间，例如，获取各个已装物品的尺寸，构建相应的三维模型等。
具体的，所述根据第一尺寸、占用空间以及已占用空间获取待装箱物品的可摆放空间还包括：
获取所述待装箱物品的第二尺寸，根据所述第二尺寸获取所述待装箱物品对应的所述占用空间。
具体地，所述待装箱物品的第二尺寸包括但不限于所述待装箱物品的各边长度等，根据所述待装箱物品的第二尺寸可以获取容纳所述待装箱物品时不与所述物品产生干涉的最小的长方体空间。
所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间还包括：
可摆放空间与占用空间大小一致；当与所述占用空间大小一致的摆放空间同时满足第一预设条件和第二预设条件时，确定所述摆放空间为可摆放空间；
其中，所述第一预设条件为：
所述摆放空间的任一顶点均在所述箱子的内部且所述摆放空间的任一顶点均不在所述已占用空间的内部。
具体地，可以用A，B，C分别表示执行装箱任务的箱子的长、宽、高，即所述箱子的第一尺寸，选取箱子底面的一个顶点作为原点（即坐标为[0 0 0]的点），并从原点出发沿箱子的边建立笛卡尔坐标系的横轴、纵轴和竖轴。
在判断与所述占用空间大小一致的摆放空间是否为可摆放空间时，可以用数组item来标识与所述占用空间大小一致的摆放空间，item的样式为： [摆放空间的横轴起始值，摆放空间的横轴尺寸，摆放空间的纵轴起始值，摆放空间的纵轴尺寸，摆放空间的竖轴起始值，摆放空间的竖轴尺寸]，例如，假设用a，b，c分别表示所述待装箱物品的长、宽、高，即所述待装箱物品的第二尺寸参数， [x a y b z c]表示以（x，y，z）为顶点，横轴尺寸为a，纵轴尺寸为b，竖轴尺寸为c的摆放空间。
当判断摆放空间 [x a y b z c]是否为可摆放空间时，则判断x+a<=A、y+b<=B以及z+c<=C是否均成立，若成立，则该摆放空间的任一顶点均在所述箱子的内部。
根据表示所述已占用空间的数组items来判断所述摆放空间是否为可摆放空间，例如：执行所述箱子的items=[0 1 0 1 0 1；0 2 1 3 0 2]（此items表示箱子里目前摆放了两个物品，分别对应的摆放空间为：以[0 0 0]为顶点，横轴尺寸、纵轴、竖轴尺寸分别为1、1、1的空间以及以[01 0]为顶点，横轴尺寸、纵轴、竖轴尺寸分别为2、3、2的空间），而所述摆放空间的item=[1 3 0 2 0 2]），则判定所述摆放空间的两个顶点[0 2 0]和[0 2 2]均处于items中第二个物品的已占用空间内部，表示所述摆放空间与所述已占用空间相冲突，不满足所述第一预设条件。
所述第二预设条件为：
所述摆放空间的底面平行于所述箱子的底面；并且，
所述摆放空间的底面四个顶点均在所述箱子的底面上或所述摆放空间的底面的四个顶点均在所述已占用空间的一个平面上。
当所述摆放空间满足所述第二预设条件时，说明所述待装箱物体摆放至所述摆放空间后能够保持平衡。
从前面的说明不难看出，在所述已占用空间只占所述箱子的小部分的情况下，满足所述第一预设条件和所述第二预设条件的与所述待装箱物品的所述占用空间大小一致的摆放空间会有多个，在一种可能的实现方式中，为了便于后续计算，减少用于确定所述待装箱物品的最终摆放位置的备选可摆放空间的数量，还设置第三预设条件。
当与所述占用空间大小一致的摆放空间同时满足所述第一预设条件、所述第二预设条件以及第三预设条件时，确定所述摆放空间为可摆放空间；
其中，所述第三预设条件为：
所述摆放空间的第一顶点位置为预设目标点，所述预设目标点为所述已占用空间的各个顶点中距所述箱子的预设顶点的X方向距离最大但Y方向和Z方向距离最小的点或距所述预设顶点的Y方向距离最大但X方向和Z方向距离最小的点或距所述预设顶点的Z方向距离最大但X方向和Y方向距离最小的点。
所述第一顶点为所述摆放空间与所述箱子的预设顶点最接近的顶点，所述箱子的预设顶点为坐标系的原点；也就是说，所述摆放空间离点[0 0 0]最近的顶点为所述已占用空间的各个顶点中距所述箱子的预设顶点的X方向距离最大但Y方向和Z方向距离最小的点或距所述预设顶点的Y方向距离最大但X方向和Z方向距离最小的点或距所述预设顶点的Z方向距离最大但X方向和Y方向距离最小的点时，确定所述摆放空间为可摆放空间。具体地，用cand表示所述预设目标点，如果cand=[1 0 0;0 2 0; 0 0 3]，则表示可摆放空间的所述第一顶点为只能为[1 0 0]、[0 2 0]或[0 0 3]中的其中一处，当开启一个新箱子时，即所述箱子内的所述已占用空间为0时，初始cand=[0 0 0]，表示所述待装箱物品只能摆在所述箱子的原点处。
不难看出，当所述待装箱物品对应的可摆放空间满足所述第三预设条件时，就限定了所述可摆放空间是需要挨着所述箱子中的已装物品，这样就限定了所述可摆放空间的个数，减少后续在所述可摆放空间中确定目标摆放空间的计算量。请再次参阅图1，所述在线装箱方法还包括：
步骤110：根据可摆放空间的顶点位置，在至少一个可摆放空间中确定待装箱物品的目标摆放空间。
在实际应用中，可以采用机械臂来进行所述待装箱物品的摆放，可旋转型机械臂可以实现对所述待装箱物品的旋转，例如，三轴可旋转机械臂可以实现对所述待装箱物品在XYZ三个方向的旋转，则可以支持将所述待装箱物品转换为三种姿态，而部分旋转的机械臂，例如水平旋转机械臂仅能实现物品的长、宽互换，而不能将物品倒置或者放倒（不能改变物品的竖轴长度），在这种情况下，所述待装箱物品的摆放姿态受到限制，因此，在一种可能的实现方式中，所述根据可摆放空间的顶点位置，在至少一个可摆放空间中确定待装箱物品的目标摆放空间之前还包括：
获取所述待装箱物品的当前姿态，根据所述当前姿态获取所述待装箱物品的可摆放姿态；
根据所述可摆放姿态对各个所述可摆放空间进行筛选，保留与所述可摆放姿态匹配的至少一个所述可摆放空间；其中，所述可摆放空间与占用空间大小一致。
用a，b，c分别表示待装箱物品的长、宽、高，即所述物品的第二尺寸参数，可以用一个三维数组标识所述待装箱物品的姿态，表示姿态的三维数组的格式为：[以该姿态摆放时横轴占用空间，以该姿态摆放时纵轴占用空间，以该姿态摆放时竖轴占用空间]，例如，所述待装箱物品的姿态为[a b c]，那么所述待装箱物品以当前姿态摆放至所述箱子内后，会占用箱子横轴的[x, x+a]区间、纵轴的[y, y+b]区间、以及竖轴的[z, z+c]区间。可以理解，由于机械臂在摆放物品时需要根据情况对其进行相应的旋转，因此，姿态[a b c]也可能是高、长、宽等。例如，所述待装箱物品的当前姿态为[3 2 4]，而用于将所述待装箱物品进行装箱的机械臂只支持水平旋转，即仅能实现物品的长、宽互换，而不能将物品倒置或者放倒（不能改变物品的竖轴长度），那么所述待装箱物品的可摆放姿态为[3 2 4]、[2 3 4]。
在获取到所述可摆放姿态后，可以获取与所述可摆放姿态对应的所述可摆放空间，例如，当可摆放姿态为[3 2 4]、[2 3 4]时，对应的可摆放空间为长为3，宽为2，高为4的摆放空间以及长为2，宽为3，高为4的摆放空间。
所述根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间包括：
获取各个所述可摆放空间的目标顶点与所述箱子的预设顶点的距离；
将目标顶点与所述预设顶点的距离最小的可摆放空间作为所述目标摆放空间；
其中，所述目标顶点为可摆放空间的各个顶点中与所述预设顶点的距离最大的顶点。
在确定了各个所述可摆放空间后，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间，具体地，将所述箱子的原点作为预设顶点（即坐标为[0 0 0]的点），对于每个所述可摆放空间来说，获取该可摆放空间的各个顶点分别与所述预设顶点之间的距离，选取距离最大的那个顶点作为所述目标顶点，比较各个所述可摆放空间对应的所述目标顶点与所述预设顶点之间的距离，选取最小的那个可摆放空间作为所述目标摆放空间。从上面的说明不难看出，对于具有同一顶点的各个可摆放空间来说，所述目标顶点与所述预设顶点的距离与所述可摆放空间对应的物品摆放姿态直接相关，可摆放空间对应的物品摆放姿态是指所述待装箱物品的所述占用空间与该可摆放空间重合时对应的姿态。在一个例子中，具有同一顶点的各个可摆放空间对应的摆放姿态与目标顶点距预设顶点的距离的对应关系如表1。
表1
摆放姿态 目标顶点距预设顶点的距离
[2 3 4] 7.07
[2 4 3] 7.35
[3 2 4] 6.93
[3 4 2] 7.48
[4 3 2] 7.35
[4 2 3] 7.07
如表1所示，对于长为2，宽为3，高为4的待装箱物品来说，在具有同一顶点的多个可摆放空间中，选选取摆放姿态为[2,3,4]或[4,2,3]对应的可摆放空间作为所述目标摆放空间。
步骤120：获取目标摆放空间对应的目标摆放姿态，以使得所述待装箱物品以所述目标摆放姿态被摆放至所述目标摆放空间。
具体的，所述获取所述目标摆放空间对应的目标摆放姿态还包括：
将所述占用空间与所述目标摆放空间重合时对应的物品姿态作为所述目标摆放姿态。
进一步地，所述目标摆放姿态即为占用空间与所述目标摆放空间重合时对应的物品姿态。
具体的，所述获取所述目标摆放空间对应的目标摆放姿态后还包括：
对所述已占用空间进行更新。
在获取所述目标摆放空间对应的目标摆放姿态后，可以控制机械臂将所述待装箱物品以所述目标摆放姿态摆放至所述目标摆放空间并对所述已占用空间进行更新，所述已占用空间的更新过程为：在六维数组items中新增统一格式的六维行向量记录所述目标摆放空间，即按照前文所述的按照 [摆放空间的横轴起始值，摆放空间的横轴尺寸，摆放空间的纵轴起始值，摆放空间的纵轴尺寸，摆放空间的竖轴起始值，摆放空间的竖轴尺寸]的格式在items中新增一行。
进一步地，当采取同时满足所述第一预设条件、所述第二预设条件以及所述第三预设条件确定摆放空间是否为可摆放空间的实施方式时，在将所述待装箱物品以所述目标摆放姿态摆放至所述目标摆放空间后，可以在三维数组cand中新增3个三维行向量，对所述可摆放新物品的所有摆放空间进行更新；所述3个三维行向量为新增物品的8个顶点中的3个的坐标，分别为：横轴坐标最大但纵轴和竖轴坐标最小的点、纵轴坐标最大但横轴和竖轴坐标最小的点以及竖轴坐标最大但横轴和纵轴坐标最小的点。Cand更新时新增的3个三维行向量具体如图2中的3个点所示。
基于上述，本申请实施例的在线装箱方法已装物品的已占用空间计算待装箱物品的目标摆放空间以及对应的目标摆放姿态，能够实现在物品到达时实时获取合适的摆放位置，从而尽可能地节省使用箱子的数目，节省物品运输成本。
请参阅图3，为本申请实施例的终端结构示意图。该终端50包括处理器51、与处理器51耦接的存储器52。
存储器52存储有用于实现上述在线装箱方法的程序指令。
处理器51用于执行存储器52存储的程序指令以控制在线装箱。
其中，处理器51还可以称为CPU（Central Processing Unit，中央处理单元）。处理器51可能是一种集成电路芯片，具有信号的处理能力。处理器51还可以是通用处理器、数字信号处理器（DSP）、专用集成电路（ASIC）、现成可编程门阵列（FPGA）或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
请参阅图4，为本申请实施例的存储介质的结构示意图。本申请实施例的存储介质存储有能够实现上述所有方法的程序文件61，其中，该程序文件61可以以软件产品的形式存储在上述存储介质中，包括若干指令用以使得一台计算机设备（可以是个人计算机，服务器，或者网络设备等）或处理器（processor）执行本发明各个实施方式方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质，或者是计算机、服务器、手机、平板等终端设备。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本申请中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本申请所示的这些实施例，而是要符合与本申请所公开的原理和新颖特点相一致的最宽的范围。

Claims (10)

  1. 一种在线装箱方法，其特征在于，所述方法包括：
    获取执行装箱任务的箱子的第一尺寸、待装箱物品的占用空间以及所述箱子中已装物品的已占用空间，根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间；
    根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间；
    获取所述目标摆放空间对应的目标摆放姿态，以使得所述待装箱物品以所述目标摆放姿态被摆放至所述目标摆放空间；
    其中，所述可摆放空间与所述占用空间大小一致。
  2. 根据权利要求1所述的在线装箱方法，其特征在于，所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间之前包括：
    获取所述待装箱物品的第二尺寸，根据所述第二尺寸获取所述待装箱物品对应的所述占用空间；
    其中，所述占用空间为容纳所述待装箱物品时不与所述待装箱物品产生干涉的最小的长方体空间。
  3. 根据权利要求1所述的在线装箱方法，其特征在于，所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间包括：
    当与所述占用空间大小一致的摆放空间同时满足第一预设条件和第二预设条件时，确定所述摆放空间为可摆放空间；
    其中，所述第一预设条件为：
    所述摆放空间的任一顶点均在所述箱子的内部且所述摆放空间的任一顶点均不在所述已占用空间的内部；
    所述第二预设条件为：
    所述摆放空间的底面平行于所述箱子的底面；并且，
    所述摆放空间的底面四个顶点均在所述箱子的底面上或所述摆放空间的底面的四个顶点均在所述已占用空间的一个平面上。
  4. 根据权利要求3所述的在线装箱方法，其特征在于，所述根据所述第一尺寸、所述占用空间以及所述已占用空间获取所述待装箱物品的可摆放空间包括：
    当与所述占用空间大小一致的摆放空间同时满足所述第一预设条件、所述第二预设条件以及第三预设条件时，确定所述摆放空间为可摆放空间；
    其中，所述第三预设条件为：
    所述摆放空间的第一顶点位置为预设目标点，所述第一顶点为所述摆放空间与所述箱子的预设顶点最接近的顶点，所述预设目标点为所述已占用空间的各个顶点中距所述箱子的预设顶点的X方向距离最大但Y方向和Z方向距离最小的点或距所述预设顶点的Y方向距离最大但X方向和Z方向距离最小的点或距所述预设顶点的Z方向距离最大但X方向和Y方向距离最小的点。
  5. 根据权利要求1所述的在线装箱方法，其特征在于，所述根据所述可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间包括：
    获取各个所述可摆放空间的目标顶点与所述箱子的预设顶点的距离；
    将目标顶点与所述预设顶点的距离最小的可摆放空间作为所述目标摆放空间；
    其中，所述目标顶点为可摆放空间的各个顶点中与所述预设顶点的距离最大的顶点。
  6. 根据权利要求4所述的在线装箱方法，其特征在于，所述根据所述各个可摆放空间的顶点位置，在至少一个所述可摆放空间中确定所述待装箱物品的目标摆放空间之前包括：
    获取所述待装箱物品的当前姿态，根据所述当前姿态获取所述待装箱物品的可摆放姿态；
    根据所述可摆放姿态对各个所述可摆放空间进行筛选，保留与所述可摆放姿态匹配的至少一个所述可摆放空间。
  7. 根据权利要求1所述的在线装箱方法，其特征在于，所述获取所述目标摆放空间对应的目标摆放姿态包括：
    将所述占用空间与所述目标摆放空间重合时对应的物品姿态作为所述目标摆放姿态。
  8. 根据权利要求1至6任一项所述的在线装箱方法，其特征在于，所述获取所述目标摆放空间对应的目标摆放姿态后还包括：对所述已占用空间进行更新。
  9. 一种终端，其特征在于，所述终端包括处理器、与所述处理器耦接的存储器，其中，
    所述存储器存储有用于实现权利要求1-8任一项所述的在线装箱方法的程序指令；
    所述处理器用于执行所述存储器存储的所述程序指令以控制在线装箱。
  10. 一种存储介质，其特征在于，存储有处理器可运行的程序指令，所述程序指令用于执行权利要求1至8任一项所述的在线装箱方法。
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