WO2022011981A1 - 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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WO2022011981A1
WO2022011981A1 PCT/CN2020/139762 CN2020139762W WO2022011981A1 WO 2022011981 A1 WO2022011981 A1 WO 2022011981A1 CN 2020139762 W CN2020139762 W CN 2020139762W WO 2022011981 A1 WO2022011981 A1 WO 2022011981A1
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space
vertex
preset
box
packed
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PCT/CN2020/139762
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English (en)
French (fr)
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许宜诚
张涌
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中国科学院深圳先进技术研究院
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Publication of WO2022011981A1 publication Critical patent/WO2022011981A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/012—Dimensioning, tolerancing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2004—Aligning objects, relative positioning of parts

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  • the present application belongs to the technical field of online packing, and in particular relates to an online packing method, a terminal and a storage medium.
  • boxing is to use a fixed-size "box" to pack a given item of different sizes.
  • online that is, the size information of the item is only available when it arrives, and there is no way to obtain any information on future items in advance.
  • Two-dimensional packing means that the size of boxes and items are two-dimensional, and the applications include news layout, cloth cutting, etc.
  • Three-dimensional packing such as actual logistics package packing and so on. High-dimensional binning has a very wide range of applications in the field of data mining.
  • boxes are empirically ordered in advance in batches, the size is known, and the number is sufficient; while the items are of multiple sizes, and the items can only be obtained (via vision machines) when they arrive at the boxing area.
  • Size information items are delivered to the packing area through the conveyor belt, but the source goods of the conveyor belt may be multi-channel, they are delivered to the agreed area through their respective conveyor belts, aggregated into one conveyor belt, and then delivered to the packing area.
  • 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 includes:
  • the target placement space of the items to be packed is determined in at least one of the placeable spaces according to a first projection distance, wherein the first projection distance is the length of the projection of the first vector on the second vector,
  • the first vector is the vector from the first preset vertex of the box to the second preset vertex of the placeable space or the vector from the second preset vertex to the first preset vertex, so
  • the second vector is a vector from the first preset vertex to the third preset vertex of the box or a vector between the third preset vertex and the first preset vertex;
  • 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 article when accommodating the article.
  • 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 a preset target point
  • the first vertex is the vertex closest to the first preset vertex of the placement space and the box
  • the preset target point Among the vertices of the occupied space, 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 from the preset vertex but in the X direction and the Z direction
  • the determining the target placement space of the items to be packed in at least one of the placeable spaces according to the first projection distance includes:
  • the third preset vertex is the vertex farthest from the first preset vertex among the vertices of the box
  • the second preset vertex is the vertex of the placeable space that is farthest from the first preset vertex. Set the vertex with the farthest vertex.
  • the technical solution adopted in the embodiment of the present application further includes: before the determining the target placement space of the items to be packed in at least one of the placeable spaces according to the first projection distance 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 placing the items to be packed in the optimal placement position, further includes: collecting the packed items and placing new items in the box. All positions of the item are updated.
  • 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 of 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 realize the 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
  • Fig. 2 is the vector projection schematic diagram of the embodiment of the present application.
  • 3 is a schematic diagram of 3 new three-dimensional line vectors newly added when Cand is updated according to an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • FIG. 5 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, according to the first size, the occupied space and the Occupy space to obtain the space that can be placed for the item to be packed;
  • the first size includes the length, width and height of the box.
  • the space occupied by the item is the smallest cuboid space that does not interfere with the item when accommodating the item.
  • A, B, and C are used to represent the length, width, and height of the box that performs the packing task, that is, the The first size of the box, arbitrarily select a vertex on the bottom of the box as the origin (that is, the point whose coordinates are [0 0 0]), and establish the horizontal, vertical and vertical axes of the Cartesian coordinate system along the sides of the box from the origin. .
  • a, b, and c are used to represent the length, width and height of the item to be packed, that is, the second size of the item.
  • the item is placed in the [x y z] position in the box with the attitude [ab c], That is to say, the space occupied by the item is: the [x,x+a] interval on the horizontal axis of the box, the [y,y+b] interval on the vertical axis, and the [z,z+c] interval on the vertical axis.
  • the posture [ab c] may also be height, length, width, etc.
  • 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 position space occupied by an item;
  • the format of the six-dimensional array is [the starting value of the horizontal axis, the horizontal axis axis end value, vertical axis start value, vertical axis end value, vertical axis start value, vertical axis end value], 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]. If items is [0 1 0 2 0 3; 1 2 0 1 0 1], it means that there are two items in the box, respectively: a horizontal axis, a vertical axis, and a vertical axis are placed at the position [0 0 0] Items with 1, 2, and 3 respectively, and an item with 2, 1, and 1 on the horizontal axis, vertical axis, and vertical axis are placed at position [1 0 0].
  • other manners can also be used to record the occupied space, for example, obtaining the size of each loaded item, and constructing a corresponding three-dimensional model.
  • 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 is acquired, and the occupied space corresponding to the item is acquired according to the second size.
  • the second size of the item includes, but is not limited to, the length of each side of the item, etc. According to the second size of the item, the smallest cuboid space that does not interfere with the item when accommodating the item can be obtained .
  • 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 that performs 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 that is consistent with the size of the occupied space, and the style of item 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],
  • [x a y b z c] is represented by (x, y, z) are the vertices
  • the size of the horizontal axis is a
  • the size of the vertical axis is b
  • the size of the vertical axis 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 00]
  • the nearest 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 200 Determine a target placement space of the item to be packed in at least one of the placeable spaces according to the first projection distance;
  • the first projection distance is the length of the projection of the first vector on the second vector
  • the first vector is the first preset vertex of the box to the second preset vertex of the placeable space the vector from the second preset vertex to the first preset vertex
  • the second vector is the vector from the first preset vertex to the third preset vertex of the box or the first preset vertex
  • the vector between the three preset vertices and the first preset vertex, the third preset vertex is the vertex farthest from the first preset vertex among the vertices of the box
  • the second preset vertex The vertex is the vertex farthest from the first preset vertex among the vertexes of the placeable space.
  • determining the target placement space of the item to be packed in at least one of the placeable spaces according to the first projection distance includes:
  • the corresponding placeable space with the smallest first projection distance is used as the target placement space.
  • packing box performs the tasks of a size of each dimension B 1, B 2, ..., B n, as shown in FIG projection vector
  • the calculation formula of the projection distance is: where ⁇ is the angle between vectors a and b, and a i is the i-th coordinate of vector a.
  • 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 position 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 b c], then after the item to be packed is placed in the box at the current posture, it will occupy the [x,x+a] interval of the horizontal axis of the box and the [y, y+b] interval of the vertical axis of the box , and the [z,z+c] interval of the vertical axis.
  • the posture [ab 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 placeable space corresponding to the placeable posture can be obtained.
  • 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.
  • Step 300 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.
  • the items to be packed are placed at the target.
  • three three-dimensional row vectors can be added to the three-dimensional array cand to update all the positions where the new items can be placed; the three three-dimensional row vectors are new 3 of the 8 vertices of the added item are: the point with the largest horizontal axis coordinate but the smallest vertical and vertical axis coordinates, the point with the largest vertical axis coordinate but the smallest horizontal and vertical axis coordinates, and the point with the largest vertical axis coordinate but the smallest horizontal axis coordinate The point with the smallest axis and vertical axis coordinates.
  • the three three-dimensional row vectors newly added when Cand is updated are shown in the three points in Figure 3.
  • 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 according to 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. 4 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 component .
  • 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. 5 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 may It is a personal computer, a server, or a network device, etc.) or a processor that executes all or part of the steps of the methods of the various embodiments of the present invention.
  • a computer device which may It is a personal computer, a server, or a network device, etc.
  • a processor that executes all or part of the steps of the methods of the various embodiments of the present invention.
  • 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

本申请涉及一种在线装箱方法、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；根据第一投影距离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。本申请根据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，从而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
本申请属于在线装箱技术领域，特别涉及一种在线装箱方法、终端及存储介质。
背景技术
所谓装箱，即用固定尺寸的“箱子”装不同尺寸的给定物品。所谓在线，即物品的尺寸信息只有在它到达时才能获取，而无法提前获取未来物品的任何信息。二维装箱即箱子和物品的尺寸是二维的，应用有新闻排版、布匹裁剪等。三维装箱如实际的物流包裹装箱等。高维装箱在数据挖掘领域有十分广泛的应用。
通常的装箱场景中箱子是提前经验性地批量订购的，尺寸已知，数目足够；而物品是多种尺寸的，且仅当物品送达至装箱区域时才能(通过视觉机器)获取其尺寸信息，物品通过传送带送达至装箱区域，但传送带的源头货物可能是多渠道的，他们通过各自的传送带送至约定区域，汇总到一条传送带后再送达至装箱区域，在此场景下获取各渠道所有物品的传送次序信息难度是极大的。因此，需要提供一种适当的装箱算法，在物品到达的时刻实时计算出当前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。
发明内容
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，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；
根据第一投影距离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，其中，所述第一投影距离为第一向量在第二向量上的投影的长度，所述第一向量为所述箱子的第一预设顶点到所述可摆放空间的第二预设顶点的向量或所述第二预设顶点到所述第一预设顶点的向量，所述第二向量为所述第一预设顶点到所述箱子的第三预设顶点的向量或所述第三预设顶点到所述第一预设顶点之间的向量；
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：
获取所述物品的第二尺寸，根据所述第二尺寸获取所述物品对应的所述占用空间；
其中，所述占用空间为容纳所述物品时不与所述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所述第一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：所述根据第一投影距离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：
获取各个可摆放空间分别对应的第一投影距离；
将对应的第一投影距离最小的可摆放空间作为所述目标摆放空间；
其中，所述第三预设顶点为所述箱子的顶点中距离所述第一预设顶点最远的顶点，所述第二预设顶点为可摆放空间的顶点中距离所述第一预设顶点最远的顶点。
本申请实施例采取的技术方案还包括：所述根据第一投影距离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带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：所述将所述待装箱物品摆放至所述最佳摆放位置后还包括：对所述已装物品集合以及所述箱子里可摆放新物品的所有位置进行更新。
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。
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、终端及存储介质根据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是本申请实施例的向量投影示意图；
图3是本申请实施例的Cand更新时新增的3个三维行向量示意图；
图4是本申请实施例提供的终端的结构示意图；
图5是本申请实施例提供的存储介质的结构示意图。
具体实施方式
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；
具体地，所述第一尺寸包括箱子的长、宽、高。
所述物品的占用空间为容纳所述物品时不与所述物品产生干涉的最小的长方体空间，假设用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，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。假设用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该物品以姿态[a b c]摆放在箱子中的[x y z]位置，即表示该物品的占用空间为：占用了箱子横轴的[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。
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表示当前箱子里摆放的物品数目，每一行表示一个物品占用的位置空间；六维数组的格式为[横轴起始值，横轴终止值，纵轴起始值，纵轴终止值，竖轴起始值，竖轴终止值]，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]，则表示箱子里有两个物品，分别为：位置[0 0 0] 处摆放了一个横轴、纵轴、竖轴分别为1、2、3的物品，以及位置[1 0 0]处摆放了一个横轴、纵轴、竖轴分别为2、1、1的物品。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：
获取所述物品的第二尺寸，根据所述第二尺寸获取所述物品对应的所述占用空间。
具体地，所述物品的第二尺寸包括但不限于所述物品的各边长度等，根据所述物品的第二尺寸可以获取容纳所述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200：根据第一投影距离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；
其中，所述第一投影距离为第一向量在第二向量上的投影的长度，所述第一向量为所述箱子的第一预设顶点到所述可摆放空间的第二预设顶点的向量或所述第二预设顶点到所述第一预设顶点的向量，所述第二向量为所述第一预设顶点到所述箱子的第三预设顶点的向量或所述第三预设顶点到所述第一预设顶点之间的向量，所述第三预设顶点为所述箱子的顶点中距离所述第一预设顶点最远的顶点，所述第二预设顶点为可摆放空间的顶点中距离所述第一预设顶点最远的顶点。
具体的，根据第一投影距离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：
获取各个可摆放空间分别对应的第一投影距离；
将对应的第一投影距离最小的可摆放空间作为所述目标摆放空间。
假设执行装箱任务的箱子的各维度尺寸为B 1、B 2、…、B n，向量投影如图2所示，线条b部分为三维向量a在向量b＝(B 1、B 2、B 3)上的投影，其长度为 投影距离，投影距离的计算公式为：
Figure PCTCN2020139762-appb-000001
其中θ为向量a与b的夹角，a i为向量a的第i维坐标。
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，所述根据第一投影距离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带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。
步骤300：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。
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以及所述第二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位置进行更新；所述3个三维行向量为新增物品的8个顶点中的3个，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3中的3个点所示。
基于上述，本申请实施例的在线装箱方法根据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4，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5，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；
    根据第一投影距离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，其中，所述第一投影距离为第一向量在第二向量上的投影的长度，所述第一向量为所述箱子的第一预设顶点到所述可摆放空间的第二预设顶点的向量或所述第二预设顶点到所述第一预设顶点的向量，所述第二向量为所述第一预设顶点到所述箱子的第三预设顶点的向量或所述第三预设顶点到所述第一预设顶点之间的向量；
    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：
    获取所述物品的第二尺寸，根据所述第二尺寸获取所述物品对应的所述占用空间；
    其中，所述占用空间为容纳所述物品时不与所述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所述第一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，所述根据第一投影距离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：
    获取各个可摆放空间分别对应的第一投影距离；
    将对应的第一投影距离最小的可摆放空间作为所述目标摆放空间；
    其中，所述第三预设顶点为所述箱子的顶点中距离所述第一预设顶点最远的顶点，所述第二预设顶点为可摆放空间的顶点中距离所述第一预设顶点最远的顶点。
  6. 根据权利要求1所述的在线装箱方法，其特征在于，所述根据第一投影距离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带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6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7任一项所述的在线装箱方法，其特征在于，所述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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