CN114104430B

CN114104430B - Rectangular article boxing method, device, electronic device and storage medium

Info

Publication number: CN114104430B
Application number: CN202210084748.9A
Authority: CN
Inventors: 林培文; 许泳; 袁悦
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2022-04-01
Anticipated expiration: 2042-01-25
Also published as: CN114104430A

Abstract

The utility model belongs to the technical field of robot control, a cuboid form article vanning method, a device, electronic equipment and storage medium is disclosed, through establishing the subspace set, divide apart the subspace that can hold the target article according to each article subspace set in proper order, divide every subspace and just obtain a new subspace set, thereby finally obtain a plurality of subspace sets and the subspace distribution result that corresponds, each subspace set and the subspace distribution result that corresponds represent a vanning scheme, finally select the optimal solution from the vanning scheme and carry out the vanning operation, thereby can acquire reasonable vanning scheme fast and vanning.

Description

Rectangular article boxing method, device, electronic device and storage medium

Technical Field

The application relates to the technical field of robot control, in particular to a rectangular object boxing method, a rectangular object boxing device, electronic equipment and a storage medium.

Background

At present, in the logistics packaging field, the robot is often adopted to carry out the vanning operation of article, and in practical application, the scene that a plurality of cuboid form small boxes filled with goods need to be put into a cuboid form big box for packaging often can be met, because the size of the cuboid form small boxes may be different, when the vanning scheme of adoption (including vanning order and vanning position appearance of each cuboid form small box), how to acquire reasonable vanning scheme fast and vanning, is the problem of waiting to solve urgently.

Disclosure of Invention

The application aims to provide a rectangular object boxing method, a rectangular object boxing device, electronic equipment and a storage medium, and a reasonable boxing scheme can be rapidly obtained for boxing.

In a first aspect, the present application provides a rectangular parallelepiped article packing method applied to a control system of a packing robot to control the packing robot to pack a plurality of rectangular parallelepiped articles into a rectangular parallelepiped target box; the method comprises the following steps:

A1. acquiring side length data of each article and side length data of the target box body;

A2. dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to a first minimum side length of a first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length;

A3. comparing the size of the subspace to which the first line segment belongs with the size of the first article, and using the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first one of the articles;

A4. generating a set of subspaces from the partitioned subspaces and assigning the first subspace to a first one of the items; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace;

A5. sequentially taking other objects as target objects, and searching subspaces capable of accommodating the target objects; allocating one of the subspaces to the target item according to the search result; or according to the size of the target object, performing segmentation processing on each searched subspace, and according to the result of each segmentation processing, performing subspace set updating processing and subspace allocation to obtain a plurality of subspace sets;

A6. and selecting an optimal subspace set, and controlling the boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set.

According to the method for boxing the cuboid-shaped objects, subspace sets are established, subspaces capable of containing target objects of the subspace sets are sequentially divided according to the objects, a new subspace set is obtained by dividing each pair of subspaces, a plurality of subspace sets and corresponding subspace distribution results are finally obtained, each subspace set and corresponding subspace distribution result represent a boxing scheme, an optimal scheme is selected from the boxing schemes to carry out boxing operation, and therefore reasonable boxing schemes can be obtained quickly to perform boxing.

Preferably, after the step A1 and before the step A2, the method further comprises the steps of:

sorting each of the articles in descending order according to the volume of each of the articles;

in step A2, the first item is the first item in the sequence;

in step a5, each of the other articles is sequentially targeted according to the sort order of each of the articles.

In practical application, the probability that the position allocated by the article allocated firstly is lower than the probability that the position allocated by the article allocated later is higher, so that when the article is actually packed, the article with large volume is positioned at the lower side of the article with small volume more frequently, the article with large volume can provide a larger bearing surface for the article with small volume in the packing process, and the probability that the article is toppled after being placed into a target box body can be reduced.

Preferably, step a5 includes sequentially taking each existing subspace set as a target subspace set, and performing the following steps:

A501. comparing the side length of each subspace in the target subspace set with the side length of the target object to obtain a candidate subspace capable of accommodating the target object;

A502. if the candidate subspace comprises an optimal subspace with the same size as the target object, the optimal subspace is allocated to the target object;

A503. if the candidate subspaces do not comprise the optimal subspaces with the same size as the target article, each candidate subspace is subjected to segmentation processing according to the size of the target article so as to segment out the target subspaces with the same size as the target article;

A504. updating the target subspace set according to the result of each division processing to obtain a plurality of new subspace sets;

A505. assigning the target subspace of each of the new subspace sets to the target item.

Preferably, step a503 includes sequentially taking each of the candidate subspaces as a partition object, and performing the following steps:

according to a second minimum side length of the target object, dividing the division object into two subspaces along the length direction of a second longest side of the division object, so that the second longest side is divided into a third line segment and a fourth line segment, wherein the length of the third line segment is equal to the second minimum side length;

partitioning the subspace to which the third segment belongs into a number of subspaces including the target subspace.

Preferably, step a504 includes:

and replacing the data tuples of the candidate subspace corresponding to the target subspace set by the data tuples of the plurality of subspaces obtained by each division processing to obtain a plurality of new subspace sets.

Preferably, the data tuple further comprises an index tag for indexing the item assigned thereto;

step a505 includes:

updating the index marker in the data tuple of the target subspace according to the identification information of the target item.

Preferably, step a6 includes:

selecting the subspace set with the least number of subspaces as an optimal subspace set from the subspace sets allocated with the subspaces for all the articles;

and controlling the boxing robot to perform boxing operation according to the subspace distribution result of the optimal subspace set.

The sub-space set with the least number of sub-spaces shows that the number of gaps among the articles is the least, and the tightness among the articles packed is the highest, so that the collision caused by relative sliding among the articles in the transportation process is reduced, and the safety of the goods is ensured.

In a second aspect, the present application provides a rectangular parallelepiped article packing device applied to a control system of a packing robot to control the packing robot to pack a plurality of rectangular parallelepiped articles into a rectangular parallelepiped target box; the method comprises the following steps:

the first acquisition module is used for acquiring the side length data of each article and the side length data of the target box body;

the first segmentation module is used for segmenting the target box body into two subspaces along the length direction of a first longest side of the target box body according to a first minimum side length of a first article, so that the first longest side is segmented into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length;

the second segmentation module is used for comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or segmenting the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first one of the articles;

a first execution module, configured to generate a subspace set according to the partitioned subspaces, and allocate the first subspace to a first item; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace;

the second execution module is used for searching a subspace capable of accommodating the target object by taking other objects as the target object in sequence; allocating one of the subspaces to the target item according to the search result; or according to the size of the target object, performing segmentation processing on each searched subspace, and according to the result of each segmentation processing, performing subspace set updating processing and subspace allocation to obtain a plurality of subspace sets;

and the control module is used for selecting an optimal subspace set and controlling the boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set.

According to the cuboid-shaped object boxing device, subspace sets capable of containing target objects are divided according to the objects in sequence by establishing subspace sets, a new subspace set is obtained by dividing each subspace set, a plurality of subspace sets and corresponding subspace distribution results are finally obtained, each subspace set and corresponding subspace distribution result represent a boxing scheme, an optimal scheme is selected from the boxing schemes to perform boxing operation, and therefore reasonable boxing schemes can be obtained quickly to perform boxing.

In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to execute the steps of the rectangular parallelepiped object packing method as described above.

In a fourth aspect, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, executes the steps in the rectangular parallelepiped object packing method as described above.

Has the advantages that:

according to the cuboid article boxing method, the cuboid article boxing device, the electronic equipment and the storage medium, the side length data of each article and the side length data of the target box body are obtained; dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to a first minimum side length of a first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length; comparing the size of the subspace to which the first line segment belongs with the size of the first article, and using the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first one of the articles; generating a set of subspaces from the partitioned subspaces and assigning the first subspace to a first one of the items; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace; sequentially taking other objects as target objects, and searching subspaces capable of accommodating the target objects; allocating one of the subspaces to the target item according to the search result; or according to the size of the target object, performing segmentation processing on each searched subspace, and according to the result of each segmentation processing, performing subspace set updating processing and subspace allocation to obtain a plurality of subspace sets; selecting an optimal subspace set, and controlling the boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set; thereby can acquire reasonable vanning scheme fast and vanning.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.

Drawings

Fig. 1 is a flowchart of a method for packing rectangular parallelepiped articles according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a rectangular parallelepiped object packing device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

FIG. 4 is a diagram of an exemplary division of a target enclosure into two subspaces.

Fig. 5 is a schematic diagram of one way of partitioning the lower subspace of fig. 4.

Fig. 6 is a schematic diagram of another division manner of the subspace on the lower side in fig. 4.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a rectangular parallelepiped article packing method applied to a control system of a packing robot to control the packing robot to pack a plurality of rectangular parallelepiped articles into a rectangular parallelepiped target box according to some embodiments of the present application; the method comprises the following steps:

A1. acquiring side length data of each article and side length data of a target box body;

A2. dividing the target box body into two subspaces along the length direction of the first longest side of the target box body (namely the longest side of the target box body, which is called as the first longest side for distinguishing from the longest sides of other subspaces for convenience), so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length;

A3. comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article;

A4. generating a subspace set according to the subspaces obtained by the division, and allocating a first subspace to a first article; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace;

A5. sequentially taking other articles as target articles, and searching a subspace capable of accommodating the target articles; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets;

A6. and selecting an optimal subspace set, and controlling a boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set.

In step a1, the side length data of the article includes three side length data of the length, width and height of the outer contour of the article; the side length data of the target box body comprises three side length data of the length, the width and the height of the internal space of the target box body.

In some preferred embodiments, after step a1 and before step a2, further comprising the steps of:

A7. sorting the articles in a descending order according to the volume of the articles;

thus, in step A2, the first item is ordered as the first item;

further, in step a5, the other articles are sequentially targeted in accordance with the sort order of the articles.

The target box body needs to be larger than any one of the objects and can contain any one of the objects, and the side length of the target box body and the side length of any one of the objects meet the following conditions:

L>a, M≥b, N≥c;

or L is more than a, M is more than or equal to c, and N is more than or equal to b;

wherein, L is the maximum side length of the target box body, M, N is two side lengths of the target box body except the maximum side length respectively, a is the minimum side length of the object, and b and c are two side lengths of the object except the minimum side length respectively. Thus, in step A2, after the target box is divided into two subspaces along the length direction of the first longest side of the target box, the subspace corresponding to the first segment can accommodate the first item. Therefore, in step a2, the first division is performed along the first longest side of the target box directly according to the first smallest side length of the first article, wherein the subspace to which the first segment belongs necessarily can accommodate the first article, and then the subspace is directly used as the first subspace or simply cut to obtain the first subspace, which is beneficial to quickly obtain the first subspace matched with the first article.

In some preferred embodiments, one of the corner points of the bottom of the target box is defined as a base point, and in step a2, the side of the first longest side close to the base point is divided into a first line segment, and the side far from the base point is divided into a second line segment. For example, in fig. 4, the point O is a base point, the maximum side length L of the target box is a high side length, and the target box is divided into a lower side subspace V1 and an upper side subspace V2 in the high side length direction, wherein the lower part of the high side is divided into a first line segment L1, and the upper part of the high side is divided into a second line segment L2.

The subspace to which the first line segment belongs is a subspace having the first line segment as one edge thereof, and in fig. 4, the subspace to which the first line segment L1 belongs is the subspace V1 on the lower side.

Wherein, step A3 includes:

when the subspace to which the first line segment belongs is the same as the first article in size, taking the subspace to which the first line segment belongs as a first subspace;

when the subspace to which the first line segment belongs has and only has two side lengths equal to the two side lengths of the first article (because the length of the first line segment is equal to the minimum side length of the first article, the other side length of the subspace to which the first line segment belongs is equal to the other side length of the first article at the moment), the subspace to which the first line segment belongs is divided into two subspaces including the first subspace;

when the subspace to which the first segment belongs has and only has one side length equal to one side length of the first article (namely, only the length of the first segment is equal to the minimum side length of the first article), the subspace to which the first segment belongs is divided into three subspaces including the first subspace.

In the present application, all the subspaces are rectangular parallelepiped spaces.

In this embodiment, the base point is made to be one of the corner points of the first subspace when the division is performed.

Fig. 5, for example, shows a division of the lower subspace V1 in fig. 4, in which the lower subspace V1 has, and only has, two sides equal to the two sides of the first item, so that the lower subspace V1 is divided into two subspaces, respectively subspace V3 and subspace V4, along the length of the edge of the lower subspace V1 which is not equal to the sides of the first item, where subspace V3 is the first subspace of the same size as the first item.

For example, fig. 6 shows another division manner of the lower subspace V1 in fig. 4, in this case, the lower subspace V1 has only one edge length equal to one edge length of the first article, so that the lower subspace V1 is divided into two subspaces along one edge length direction of the lower subspace V1 not equal to the edge length of the first article, and then the divided subspace V1 closest to the base point O is divided into two subspaces along the other edge length direction of the lower subspace V1 not equal to the edge length of the first article, so as to obtain three subspaces, which are respectively a subspace V5, a subspace V6, and a subspace V7, wherein the subspace V5 is the first subspace having the same size as the first article.

In some embodiments, a subspace set may be denoted as P = { T1, T2, …, Tn }, where P is the subspace set, Tn is the data tuple for the nth subspace, and n is the total number of subspaces in the subspace set (n is 2, 3, or 4 for the subspace set generated in step a 4); the data tuple comprises position data and three side length data of corresponding subspaces; the position data of the subspace is coordinate data of an angular point closest to a base point, generally, a box body coordinate system is established by taking the base point as an origin point and taking the length directions of three sides (long side, wide side and high side) of a target box body as three coordinate axis directions, and the coordinate data in the application refers to coordinate data under the box body coordinate system; three side length data in the data tuples are arranged according to a preset sequence, for example, the length (the side length corresponding to the X-axis direction of the box coordinate system), the width (the side length corresponding to the Y-axis direction of the box coordinate system), and the height (the side length corresponding to the Z-axis direction of the box coordinate system) are sequentially arranged, so that the packing pose of the article is convenient to determine during subsequent packing operation.

In this embodiment, step a5 includes sequentially taking each existing subspace set as the target subspace set, and performing the following steps:

A502. if the candidate subspace comprises the optimal subspace with the same size as the target object, the optimal subspace is allocated to the target object;

A505. the target subspace of each new subspace set is assigned to the target item.

Wherein, step a501 comprises:

judging whether the side length of the subspace and the side length of the target object meet the following conditions:

l 'is not less than a', M 'is not less than b', L 'is not less than c'; or L 'is not less than a', M 'is not less than c', and L 'is not less than b'; or L 'is more than or equal to b', M 'is more than or equal to a', and L 'is more than or equal to c'; or L 'is more than or equal to b', M 'is more than or equal to c', and L 'is more than or equal to a'; or L 'is more than or equal to c', M 'is more than or equal to a', and L 'is more than or equal to b'; or L 'is more than or equal to c', M 'is more than or equal to b', and L 'is more than or equal to a';

wherein, L ', M' and L 'are respectively three side lengths of the subspace, and a', b 'and c' are respectively three side lengths of the target object;

if yes, judging the subspace to be a candidate subspace capable of accommodating the target article;

if not, the subspace is judged not to be capable of accommodating the target object.

It should be noted that, if the candidate subspace that can accommodate the target item is not obtained in step a501, it is indicated that the remaining space is insufficient to accommodate the target item, at this time, the subsequent processing step for the current target subspace set may be stopped, and the process may be skipped to the other target subspace sets, so as to further improve the work efficiency.

In step a502, the fact that the size of the candidate subspace is the same as that of the target object means that three side lengths of the candidate subspace are respectively equal to three side lengths of the target object. For example, L '= a', M '= b', L '= c'; or L '= a', M '= c', L '= b'; or L '= b', M '= a', L '= c'; or L '= b', M '= c', L '= a'; or L '= c', M '= a', L '= b'; or L '= c', M '= b', L '= a'.

Preferably, step a503 includes sequentially taking each candidate subspace as a segmentation object, and performing the following steps:

dividing the division object into two subspaces along the length direction of the second longest side of the division object (i.e. the longest side of the division object, which is called the second longest side for distinguishing from the first longest side in the above) according to the second smallest side length of the target object (i.e. the smallest side length of the target object, which is called the second smallest side length for distinguishing from the first smallest side length in the above);

the subspace to which the third segment belongs is partitioned into a number of subspaces including the target subspace.

When the division target is divided into two subspaces along the length direction of the second longest side of the division target, the side of the second longest side close to the base point is divided into a third line segment, and the side of the second longest side far away from the base point is divided into a fourth line segment. For a specific process of dividing the subspace to which the third segment belongs into a plurality of subspaces including the target subspace, refer to step a3, which is not described herein again. Wherein, one corner point of the target subspace is the corner point closest to the base point of the corresponding segmentation object.

Specifically, step a504 includes:

and replacing the data tuples of the corresponding candidate subspace in the target subspace set by the data tuples of the plurality of subspaces obtained by each division processing to obtain a plurality of new subspace sets.

It should be noted that, after the partition processing of all candidate subspaces is completed for the same target subspace set and a corresponding new subspace set is obtained by updating, the target subspace set can be eliminated, so that the target subspace set does not need to be considered when the optimal subspace set is selected subsequently, and the processing efficiency is improved.

For example, assume that a target subspace set P1= { T1, T2}, where both subspaces are candidate subspaces, where the 1 st subspace is divided into two subspaces, whose data tuples are T3, T4, respectively, so as to replace T1 with T3, T4 to update a new subspace set P2= { T3, T4, T2}, where the 2 nd subspace is divided into three subspaces, whose data tuples are T5, T6, T7, respectively, so as to replace T2 with T5, T6, T7 to update a new subspace set P3= { T1, T5, T6, T7 }; and may clear the target subspace set P1.

In some embodiments, an index table may be generated according to each subspace set, and an index between each article and the data tuple of the corresponding subspace in the subspace set is recorded in the index table; so that the data tuples of the sub-spaces allocated to each item can be searched through the index table. Thus, step a505 includes: and respectively generating an index table for each new subspace set, wherein the index table records indexes between each article and the data tuples of the corresponding subspace in the corresponding subspace set.

In other embodiments, the data tuples further comprise index tags for indexing the assigned items;

thus, step a505 includes:

and updating the index mark in the data tuple of the target subspace according to the identification information of the target object.

For example, if the identification information of the target object is a pre-assigned identification number (each object is pre-assigned with an identification number), the identification can be directly used as an index tag of the data tuple of the target subspace.

For example, the format of the data tuple is [ x, y, z, L, W, H, S ], where x, y, z are three position coordinates of a subspace corresponding to the data tuple respectively (generally, coordinates of an angular point of the subspace closest to the base point, thereby facilitating determination of the pose of the subspace), L, W, H are length, width, and height of the subspace corresponding to the data tuple respectively, and S is an index mark of the subspace corresponding to the data tuple, where the index mark of the subspace not allocated to the article is a uniform preset mark, and the preset mark may be a number, a letter, or other symbols.

In some preferred embodiments, step a6 includes:

selecting a subspace set with the least subspace quantity as an optimal subspace set from subspace sets (namely index marks of all articles are recorded in the subspace sets) which are respectively allocated with subspaces for all articles;

The packing scheme is characterized in that the subspace set with the least number of subspaces indicates that the number of gaps among the articles is the least, the tightness among the packed articles is the highest, and the collision caused by relative sliding among the articles in the transportation process is reduced, so that the safety of the goods is ensured.

In fact, the selection method of the optimal subspace set is not limited to this, and the optimal subspace set may also be determined by a manual selection method. Or, from the subspace set in which subspaces are allocated to all the articles, selecting a subspace set with a small number of K (K is a preset positive integer and can be set according to actual needs) before the subspace number as a candidate subspace set, and manually selecting one from the candidate subspace set as an optimal subspace set.

The specific method for controlling the boxing robot to perform the boxing operation according to the subspace allocation result of the optimal subspace set is the prior art, and the detailed description thereof is omitted here.

According to the method for boxing the cuboid-shaped objects, the side length data of each object and the side length data of the target box body are obtained; dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to the first minimum side length of the first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length; comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article; generating a subspace set according to the subspaces obtained by the division, and allocating a first subspace to a first article; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace; sequentially taking other articles as target articles, and searching a subspace capable of accommodating the target articles; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets; selecting an optimal subspace set, and controlling a boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set; thereby can acquire reasonable vanning scheme fast and vanning.

Referring to fig. 2, the present application provides a rectangular parallelepiped article packing device applied to a control system of a packing robot to control the packing robot to pack a plurality of rectangular parallelepiped articles into a rectangular parallelepiped target box; the method comprises the following steps:

the first acquisition module 1 is used for acquiring side length data of each article and side length data of a target box body;

the first dividing module 2 is configured to divide the target box into two subspaces along a length direction of a first longest side of the target box (i.e., the longest side of the target box is referred to as a first longest side, for convenience of distinguishing from the longest sides of other subspaces), so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first smallest side length;

the second segmentation module 3 is used for comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or segmenting the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article;

a first execution module 4, configured to generate a subspace set according to the partitioned subspaces, and allocate the first subspace to the first item; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace;

the second execution module 5 is used for searching a subspace capable of accommodating the target object by taking other objects as the target object in sequence; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets;

and the control module 6 is used for selecting the optimal subspace set and controlling the boxing robot to perform boxing operation according to the subspace distribution result of the optimal subspace set.

The side length data of the article comprises three side length data of the length, the width and the height of the outline of the outer side of the article; the side length data of the target box body comprises three side length data of the length, the width and the height of the internal space of the target box body.

In some preferred embodiments, the rectangular parallelepiped article packing device further includes:

the sorting module is used for sorting the articles in a descending order according to the volume of the articles;

thus, the first segmentation module 2 takes the first item in the sequence as the first item;

further, the second execution module 5 sequentially targets the other articles according to the sort order of the articles.

L>a, M≥b,N≥c;

wherein, L is the maximum side length of the target box body, M, N is two side lengths of the target box body except the maximum side length respectively, a is the minimum side length of the object, and b and c are two side lengths of the object except the minimum side length respectively. Therefore, after the target box body is divided into two subspaces along the length direction of the first longest side of the target box body by the first dividing module 2, the subspaces corresponding to the first line segment can contain the first article. Therefore, the first dividing module 2 directly divides the first object along the first longest edge of the target box body according to the first minimum edge length of the first object, the subspace to which the first line segment belongs can necessarily contain the first object, and the subspace is subsequently directly used as the first subspace or simply cut to obtain the first subspace, so that the first subspace matched with the first object can be quickly obtained.

In some preferred embodiments, one of the corner points of the bottom of the target box is defined as a base point, and the first dividing module 2 is configured to divide a side of the first longest side close to the base point into a first line segment and a side far from the base point into a second line segment. For example, in fig. 4, the point O is a base point, the maximum side length L of the target box is a high side length, and the target box is divided into a lower side subspace V1 and an upper side subspace V2 in the high side length direction, wherein the lower part of the high side is divided into a first line segment L1, and the upper part of the high side is divided into a second line segment L2.

The second dividing module 3 is configured to perform, when comparing the size of the subspace to which the first segment belongs with the size of the first article, and using the subspace to which the first segment belongs as the first subspace according to the comparison result, or dividing the subspace to which the first segment belongs into a plurality of subspaces including the first subspace, the method includes:

In this embodiment, the second segmentation module 3 makes the base point one of the corner points of the first subspace when performing the segmentation.

In some embodiments, a subspace set may be denoted as P = { T1, T2, …, Tn }, where P is the subspace set, Tn is the data tuple for the nth subspace, and n is the total number of subspaces in the subspace set (n is 2, 3, or 4 for the subspace set generated by the first execution module 4); the data tuple comprises position data and three side length data of corresponding subspaces; the position data of the subspace is coordinate data of an angular point closest to a base point, generally, a box body coordinate system is established by taking the base point as an origin point and taking the length directions of three sides (long side, wide side and high side) of a target box body as three coordinate axis directions, and the coordinate data in the application refers to coordinate data under the box body coordinate system; three side length data in the data tuples are arranged according to a preset sequence, for example, the length (the side length corresponding to the X-axis direction of the box coordinate system), the width (the side length corresponding to the Y-axis direction of the box coordinate system), and the height (the side length corresponding to the Z-axis direction of the box coordinate system) are sequentially arranged, so that the packing pose of the article is convenient to determine during subsequent packing operation.

In this embodiment, the second executing module 5 is configured to, when sequentially taking other items as target items, search for subspaces that can accommodate the target items, allocate one of the subspaces to the target item according to the search result, or perform division processing on the searched subspaces according to the size of the target item, perform subspace set update processing and subspace allocation according to the result of each division processing, and obtain a plurality of subspace sets, sequentially taking existing subspace sets as the target subspace sets, and execute the following steps:

comparing the side length of each subspace in the target subspace set with the side length of the target object to obtain a candidate subspace capable of accommodating the target object;

if the candidate subspace comprises the optimal subspace with the same size as the target object, the optimal subspace is allocated to the target object;

if the candidate subspaces do not comprise the optimal subspaces with the same size as the target article, each candidate subspace is subjected to segmentation processing according to the size of the target article so as to segment out the target subspaces with the same size as the target article;

updating the target subspace set according to the result of each division processing to obtain a plurality of new subspace sets;

the target subspace of each new subspace set is assigned to the target item.

The second executing module 5 is configured to, when comparing the side length of each subspace in the target subspace set with the side length of the target article to obtain a candidate subspace capable of accommodating the target article, execute:

It should be noted that, if the candidate subspace that can accommodate the target item is not obtained, it is indicated that the remaining space is insufficient to accommodate the target item, at this time, the execution of the subsequent processing step for the current target subspace set may be stopped, and the process may be skipped to the processing of other target subspace sets, so as to further improve the work efficiency.

The fact that the candidate subspace is the same as the target object in size means that the three side lengths of the candidate subspace are respectively equal to the three side lengths of the target object. For example, L '= a', M '= b', L '= c'; or L '= a', M '= c', L '= b'; or L '= b', M '= a', L '= c'; or L '= b', M '= c', L '= a'; or L '= c', M '= a', L '= b'; or L '= c', M '= b', L '= a'.

Preferably, the second executing module 5 is configured to, when each candidate subspace is subjected to a dividing process according to the size of the target article to divide the target subspace having the same size as the target article, sequentially take each candidate subspace as a dividing object, and execute the following steps:

When the division target is divided into two subspaces along the length direction of the second longest side of the division target, the side of the second longest side close to the base point is divided into a third line segment, and the side of the second longest side far away from the base point is divided into a fourth line segment. The specific process of dividing the subspace to which the third segment belongs into the plurality of subspaces including the target subspace may refer to the operation steps executed by the second division module 3, and will not be described herein again. Wherein, one corner point of the target subspace is the corner point closest to the base point of the corresponding segmentation object.

Specifically, the second executing module 5 is configured to, when the target subspace set is updated according to the result of each segmentation process to obtain a plurality of new subspace sets, execute:

In some embodiments, an index table may be generated according to each subspace set, and an index between each article and the data tuple of the corresponding subspace in the subspace set is recorded in the index table; so that the data tuples of the sub-spaces allocated to each item can be searched through the index table. Thus, the second execution module 5 is configured to, when allocating the target subspace of each new subspace set to the target item, execute: and respectively generating an index table for each new subspace set, wherein the index table records indexes between each article and the data tuples of the corresponding subspace in the corresponding subspace set.

thus, the second execution module 5 is configured to, when allocating the target subspace of each new subspace set to the target item, execute:

For example, if the identification information of the target object is a pre-assigned identification number (each object is pre-assigned with an identification number), the identification number can be directly used as an index tag of the data tuple of the target subspace.

In some preferred embodiments, the control module 6 is configured to, when selecting the optimal subspace set and controlling the boxing robot to perform boxing operation according to the subspace allocation result of the optimal subspace set, perform:

According to the rectangular article boxing device, the side length data of each article and the side length data of the target box body are obtained; dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to the first minimum side length of the first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length; comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article; generating a subspace set according to the subspaces obtained by the division, and allocating a first subspace to a first article; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace; sequentially taking other articles as target articles, and searching a subspace capable of accommodating the target articles; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets; selecting an optimal subspace set, and controlling a boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set; thereby can acquire reasonable vanning scheme fast and vanning.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the present disclosure provides an electronic device, including: the processor 301 and the memory 302, the processor 301 and the memory 302 are interconnected and communicate with each other through the communication bus 303 and/or other types of connection mechanisms (not shown), the memory 302 stores a computer program executable by the processor 301, and when the electronic device runs, the processor 301 executes the computer program to execute the cuboid-shaped object packing method in any optional implementation manner of the above embodiments to realize the following functions: acquiring side length data of each article and side length data of a target box body; dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to the first minimum side length of the first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length; comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article; generating a subspace set according to the subspaces obtained by the division, and allocating a first subspace to a first article; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace; sequentially taking other articles as target articles, and searching a subspace capable of accommodating the target articles; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets; and selecting an optimal subspace set, and controlling a boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set.

The present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for packing a rectangular parallelepiped article in any one of the optional implementations of the foregoing embodiments is executed, so as to implement the following functions: acquiring side length data of each article and side length data of a target box body; dividing the target box body into two subspaces along the length direction of a first longest side of the target box body according to the first minimum side length of the first article, so that the first longest side is divided into a first line segment and a second line segment, and the length of the first line segment is equal to the first minimum side length; comparing the size of the subspace to which the first line segment belongs with the size of the first article, and taking the subspace to which the first line segment belongs as a first subspace according to the comparison result, or dividing the subspace to which the first line segment belongs into a plurality of subspaces including the first subspace; the size of the first subspace is the same as the size of the first article; generating a subspace set according to the subspaces obtained by the division, and allocating a first subspace to a first article; the subspace set comprises data tuples of each subspace, and the data tuples comprise position data and side length data of the corresponding subspace; sequentially taking other articles as target articles, and searching a subspace capable of accommodating the target articles; allocating one of the subspaces to the target item according to the search result; or carrying out segmentation processing on each searched subspace according to the size of the target object, and carrying out subspace set updating processing and subspace allocation according to the result of each segmentation processing to obtain a plurality of subspace sets; and selecting an optimal subspace set, and controlling a boxing robot to perform boxing operation according to a subspace distribution result of the optimal subspace set. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rectangular article boxing method is applied to a control system of a boxing robot to control the boxing robot to load a plurality of rectangular articles into a rectangular target box body; the method is characterized by comprising the following steps:

2. The method for boxing rectangular parallelepiped shaped articles as claimed in claim 1, wherein after the step a1 and before the step a2, further comprising the steps of:

in step A2, the first item is the first item in the sequence;

3. The rectangular parallelepiped object packing method according to claim 1, wherein step a5 comprises sequentially taking each existing subspace set as a target subspace set, and performing the steps of:

A502. if the candidate subspace comprises an optimal subspace with the same size as the target object, allocating the optimal subspace to the target object;

4. The rectangular parallelepiped object packing method according to claim 3, wherein step a503 comprises sequentially taking each of the candidate subspaces as a division target, and performing the steps of:

5. The rectangular parallelepiped object boxing method according to claim 4, wherein the step a504 includes:

6. A cuboid shaped article boxing method in accordance with claim 3 wherein the data tuple further comprises an index mark for indexing the article assigned thereto;

step a505 includes:

7. The rectangular parallelepiped object boxing method according to claim 1, wherein the step a6 comprises:

8. A rectangular parallelepiped article boxing apparatus is applied to a control system of a boxing robot to control the boxing robot to load a plurality of rectangular parallelepiped articles into a rectangular parallelepiped target box; it is characterized by comprising:

9. An electronic device comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to execute the steps of the rectangular parallelepiped-shaped article packing method according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, executes the steps of the rectangular parallelepiped object packing method according to any one of claims 1 to 7.