技术领域technical field
本发明涉及计算机技术领域，尤其涉及一种码垛方法和装置。The invention relates to the technical field of computers, in particular to a palletizing method and device.
背景技术Background technique
托盘码垛广泛应用于制造业、仓储物流业等行业，其通常是指将货箱按一定的垛型码放至托盘上。由于业务需求，有时需要将不同件型的货箱堆放至同一托盘上，即混合码垛。Pallet palletizing is widely used in manufacturing, warehousing and logistics industries, etc. It usually refers to placing boxes on pallets according to a certain stacking type. Due to business needs, it is sometimes necessary to stack boxes of different types on the same pallet, that is, mixed palletizing.
在现有的混合码垛方式中，大多是先根据人工经验确定混合码垛的垛型，再按照垛型码放货物。In the existing mixed palletizing methods, the stacking type of the mixed stacking is mostly determined according to manual experience, and then the goods are stacked according to the stacking type.
在实现本发明过程中，发明人发现现有技术中至少存在如下问题：现有的混合码垛方式对于作业人员的码垛经验要求较高，并且混合码垛的效果也往往取决于人工经验的多少。In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: the existing mixed palletizing method has high requirements for the palletizing experience of the operator, and the effect of mixed palletizing often depends on the manual experience. How many.
发明内容Contents of the invention
有鉴于此，本发明提供一种码垛方法和装置，能够自动生成混合码垛的垛型，改善混合码垛的效果。In view of this, the present invention provides a palletizing method and device, which can automatically generate a stacking pattern for mixed palletizing and improve the effect of mixed palletizing.
为实现上述目的，根据本发明的第一个方面，提供了一种码垛方法。To achieve the above purpose, according to the first aspect of the present invention, a palletizing method is provided.
本发明的码垛方法包括：i)从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集；ii)对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点；iii)重复执行步骤i)至步骤ii)，直至得到所有物品的码放角点；iv)在得到所有物品的码放角点之后，生成码垛垛型。The palletizing method of the present invention includes: i) selecting the current stacking item from all the items to be stacked, and then constructing a candidate stacking corner point set of the current stacking item; ii) stacking each candidate in the candidate stacking corner point set The stacking effect of the corner points is evaluated to determine the stacking corner points of the current stacked items according to the evaluation results; iii) repeat step i) to step ii) until the stacking corner points of all items are obtained; iv) after obtaining all items After the stacking corners are placed, the palletizing pattern is generated.
可选地，所述构建所述当前码放物品的候选码放角点集的步骤包括：根据预设的放置规则从容器的可用角点集中选取当前码放物品的候选码放角点，以得到所述候选码放角点集。Optionally, the step of constructing the candidate stacking corner point set of the currently stacked item includes: selecting the candidate stacking corner point set of the currently stacked item from the available corner point set of the container according to a preset placement rule, so as to obtain the candidate Stack corner set.
可选地，所述预设的放置规则包括以下至少一项：在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能与当前容器上的已码放物品发生干涉；在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能超出容器的边界；在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品的底部支撑面积占比大于或等于预设阈值。Optionally, the preset placement rules include at least one of the following: after placing the currently stacked item at an available corner of the container, the currently stacked item cannot interfere with the stacked item on the current container; After the currently stacked items are placed on the available corners of the container, the current stacked items cannot exceed the boundary of the container; after the current stacked items are placed on the available corners of the container, the bottom of the current stacked items The support area ratio is greater than or equal to the preset threshold.
可选地，所述方法还包括；在所述候选码放角点集为空的情况下，新开设一空容器，并将所述空容器的指定位置作为所述当前码放物品的码放角点。Optionally, the method further includes: when the set of candidate stacking corner points is empty, opening a new empty container, and using the designated position of the empty container as the stacking corner point of the currently stacked item.
可选地，所述方法还包括：在确定所述当前码放物品的码放角点之后，且在重复执行步骤i)至步骤ii)之前，更新容器的可用角点集。Optionally, the method further includes: after determining the stacking corner points of the currently stacked items and before repeatedly performing steps i) to ii), updating the set of available corner points of the container.
可选地，所述更新容器的可用角点集的步骤包括：从所述可用角点集中删除所述当前码放物品的码放角点；从所述可用角点集中删除被所述当前码放物品覆盖的角点；将在放置所述当前码放物品之后产生的新的角点添加至所述可用角点集中；删除所述可用角点集中的重复角点。Optionally, the step of updating the set of available corner points of the container includes: deleting the corner points of the currently stacked items from the set of available corner points; deleting the corner points covered by the currently stacked items from the set of available corner points the corner points; adding the new corner points generated after placing the current stacked item to the set of available corner points; deleting the repeated corner points in the set of available corner points.
可选地，所述方法还包括：根据预设的排序规则确定物品的码放顺序，以根据所述码放顺序从所有待码放物品中选取当前码放物品。Optionally, the method further includes: determining the stacking order of the items according to a preset sorting rule, so as to select the currently stacked item from all the items to be stacked according to the stacking order.
可选地，所述预设的排序规则包括：按照物品的体积进行降序排列，并在体积相同时按照物品的高度进行降序排列；或者，按照物品的底面积进行降序排列，并在底面积相同时按照物品的高度进行降序排列；或者，按照物品的三边最大尺寸进行降序排列。Optionally, the preset sorting rules include: sorting in descending order according to the volume of the items, and sorting in descending order according to the height of the items when the volumes are the same; or, sorting in descending order according to the bottom area of the items, and sorting in descending order according to the bottom area of the items At the same time, sort in descending order according to the height of the items; or, sort in descending order according to the largest size of the three sides of the items.
可选地，所述码垛垛型包括：物品与容器的对应关系；所述方法还包括：根据邻域生成策略更改所述物品与容器的对应关系，以得到每个容器对应的新的物品集；在得到所述新的物品集中每个物品的码放角点之后，生成新的码垛垛型；对所述新的码垛垛型的质量进行评估，并根据评估结果判断是否更新当前优化垛型；在达到优化停止条件时，将所述当前优化垛型作为最终的码垛垛型。Optionally, the palletizing type includes: the corresponding relationship between items and containers; the method further includes: changing the corresponding relationship between the items and containers according to the neighborhood generation strategy, so as to obtain new items corresponding to each container set; after obtaining the stacking corner points of each item in the new item set, generate a new palletizing type; evaluate the quality of the new stacking type, and judge whether to update the current optimization according to the evaluation result Pallet type: when the optimization stop condition is reached, the current optimized stack type is used as the final stack type.
为实现上述目的，根据本发明的第二个方面，提供了另一种码垛方法。To achieve the above purpose, according to the second aspect of the present invention, another palletizing method is provided.
本发明的码垛方法包括：i)构建所有待码放物品的候选码放角点集；ii)对所述候选码放角点集中每个候选码放角点的码放效果进行评估，以根据评估结果确定当前码放物品以及所述当前码放物品的码放角点；iii)重复执行步骤i)至步骤ii)，直至得到所有物品的码放角点；iv)在得到所有物品的码放角点之后，生成码垛垛型。The palletizing method of the present invention includes: i) constructing a set of candidate stacking corner points for all items to be stacked; ii) evaluating the stacking effect of each candidate stacking corner point in the set of candidate stacking corner points, to determine the current Stacking items and the stacking corner points of the current stacking items; iii) Repeat steps i) to step ii) until the stacking corner points of all items are obtained; iv) After obtaining the stacking corner points of all items, generate a stacking stack type.
为实现上述目的，根据本发明的第三个方面，提供了一种码垛装置。To achieve the above object, according to a third aspect of the present invention, a palletizing device is provided.
本发明的码垛装置包括：构建模块，用于从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集；确定模块，用于对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点；重复调用所述构建模块和所述确定模块，直至得到所有物品的码放角点；生成模块，用于在得到所有物品的码放角点之后，生成码垛垛型。The palletizing device of the present invention includes: a construction module, used to select the current stacked item from all the items to be stacked, and then construct a candidate stacking corner point set of the current stacked item; a determination module, used to select the candidate stacked corner point Evaluate the stacking effect of each candidate stacking corner point in the set, so as to determine the stacking corner point of the current stacked item according to the evaluation result; repeatedly call the building module and the determination module until the stacking corner points of all items are obtained; The generation module is used to generate the palletizing pattern after obtaining the stacking corner points of all items.
可选地，所述构建模块构建所述当前码放物品的候选码放角点集包括：所述构建模块根据预设的放置规则从容器的可用角点集中选取当前码放物品的候选码放角点，以得到所述候选码放角点集。Optionally, the construction module constructing the candidate stacking corner point set of the currently stacked item includes: the construction module selects the candidate stacking corner point of the current stacked item from the available corner point set of the container according to a preset placement rule, to Obtain the set of candidate code placement corner points.
可选地，所述确定模块还用于：在所述候选码放角点集为空的情况下，所述确定模块新开设一空容器，并将所述空容器的指定位置作为所述当前码放物品的码放角点。Optionally, the determination module is further configured to: in the case that the set of candidate stacking corner points is empty, the determination module opens a new empty container, and uses the specified position of the empty container as the current stacked item corner point of the code.
可选地，所述装置还包括：更新模块，用于在所述确定模块确定所述当前码放物品的码放角点之后，且在重复调用所述构建模块和所述确定模块之前，更新容器的可用角点集。Optionally, the device further includes: an update module, configured to update the container's location after the determining module determines the stacking corner of the currently stacked item and before calling the building module and the determining module repeatedly. Available corner sets.
可选地，所述更新模块更新容器的可用角点集包括：所述更新模块从所述可用角点集中删除所述当前码放物品的码放角点；所述更新模块从所述可用角点集中删除被所述当前码放物品覆盖的角点；所述更新模块将在放置所述当前码放物品之后产生的新的角点添加至所述可用角点集中；所述更新模块删除所述可用角点集中的重复角点。Optionally, updating the available corner point set of the container by the updating module includes: the updating module deleting the stacking corner point of the currently stacked item from the available corner point set; Delete the corner points covered by the current stacked items; the update module adds new corner points generated after placing the current stacked items to the set of available corner points; the update module deletes the available corner points Concentrated repeated corners.
可选地，所述装置还包括：排序模块，用于根据预设的排序规则确定物品的码放顺序，以使所述构建模块根据所述码放顺序从所有待码放物品中选取当前码放物品。Optionally, the device further includes: a sorting module, configured to determine the stacking order of the items according to a preset sorting rule, so that the building module selects the currently stacked item from all the items to be stacked according to the stacking order.
可选地，所述码垛垛型包括：物品与容器的对应关系；所述装置还包括：优化模块，用于根据邻域生成策略更改所述物品与容器的对应关系，以得到每个容器对应的新的物品集；还用于在得到所述新的物品集中每个物品的码放角点之后，生成新的码垛垛型；还用于对所述新的码垛垛型的质量进行评估，并根据评估结果判断是否更新当前优化垛型；还用于在达到优化停止条件时，将所述当前优化垛型作为最终的码垛垛型。Optionally, the palletizing type includes: a correspondence between items and containers; the device further includes: an optimization module, configured to change the correspondence between items and containers according to a neighborhood generation strategy, so as to obtain Corresponding new article set; Also be used for after obtaining the stacking corner point of each article in described new article set, generate new palletizing stacking type; Also be used for the quality of described new stacking stacking type Evaluate, and judge whether to update the current optimized stacking type according to the evaluation result; it is also used to use the current optimized stacking type as the final stacking type when the optimization stop condition is reached.
为实现上述目的，根据本发明的第四个方面，提供了另一种码垛装置。To achieve the above purpose, according to the fourth aspect of the present invention, another palletizing device is provided.
本发明的码垛装置包括：构建模块，用于构建所有待码放物品的候选码放角点集；确定模块，用于对所述候选码放角点集中每个候选码放角点的码放效果进行评估，以根据评估结果确定当前码放物品以及所述当前码放物品的码放角点；重复调用所述构建模块和所述确定模块，以得到所有物品的码放角点；生成模块，用于在得到所有物品的码放角点之后，生成码垛垛型。The palletizing device of the present invention includes: a construction module for constructing a set of candidate stacking corner points for all items to be stacked; a determination module for evaluating the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, To determine the current stacked items and the stacked corners of the current stacked items according to the evaluation results; repeatedly calling the construction module and the determination module to obtain the stacked corners of all items; the generation module is used to obtain all items. After stacking the corner points, a palletizing pattern is generated.
为实现上述目的，根据本发明的第五个方面，提供了一种电子设备。To achieve the above purpose, according to a fifth aspect of the present invention, an electronic device is provided.
本发明的电子设备，包括：一个或多个处理器；以及，存储装置，用于存储一个或多个程序；当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现本发明的码垛方法。The electronic equipment of the present invention includes: one or more processors; and a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the The palletizing method of the present invention is realized by one or more processors described above.
为实现上述目的，根据本发明的第六个方面，提供了一种计算机可读介质。To achieve the above purpose, according to a sixth aspect of the present invention, a computer-readable medium is provided.
本发明的计算机可读介质，其上存储有计算机程序，所述程序被处理器执行时实现本发明的码垛方法。The computer-readable medium of the present invention has a computer program stored thereon, and when the program is executed by a processor, the palletizing method of the present invention is realized.
上述发明中的一个实施例具有如下优点或有益效果：通过重复执行步骤i)至步骤ii)，具体包括：从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集；对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点，能够自动生成混合码垛的垛型，改善混合码垛的效果。An embodiment of the above invention has the following advantages or beneficial effects: by repeatedly performing steps i) to ii), specifically including: selecting the current stacked item from all the items to be stacked, and then constructing the candidate stacking angle of the current stacked item Point set: Evaluate the stacking effect of each candidate stacking corner point set in the candidate stacking corner point set, to determine the stacking corner point of the current stacking item according to the evaluation result, can automatically generate the stacking type of mixed stacking, improve The effect of mixed palletizing.
上述的非惯用的可选方式所具有的进一步效果将在下文中结合具体实施方式加以说明。The further effects of the above-mentioned non-conventional alternatives will be described below in conjunction with specific embodiments.
附图说明Description of drawings
附图用于更好地理解本发明，不构成对本发明的不当限定。其中：The accompanying drawings are used to better understand the present invention, and do not constitute improper limitations to the present invention. in:
图1是根据本发明一个实施例的码垛方法的主要流程的示意图；Fig. 1 is the schematic diagram of the main process flow of the palletizing method according to one embodiment of the present invention;
图2是根据本发明另一实施例的码垛方法的主要流程的示意图；Fig. 2 is the schematic diagram of the main flow of the palletizing method according to another embodiment of the present invention;
图3是根据本发明实施例的混合码垛的空间表达示意图；Fig. 3 is a schematic diagram of spatial expression of mixed palletizing according to an embodiment of the present invention;
图4是根据本发明实施例的角点的剩余空间的二维示意图；Fig. 4 is a two-dimensional schematic diagram of the remaining space of corner points according to an embodiment of the present invention;
图5是根据本发明再一实施例的码垛方法的主要流程的示意图；5 is a schematic diagram of the main flow of a palletizing method according to yet another embodiment of the present invention;
图6是根据本发明一个实施例的码垛装置的主要模块的示意图；Fig. 6 is the schematic diagram of the main module of the palletizing device according to one embodiment of the present invention;
图7是根据本发明另一实施例的码垛装置的主要模块的示意图；Fig. 7 is the schematic diagram of the main module of the palletizing device according to another embodiment of the present invention;
图8是根据本发明再一实施例的码垛装置的主要模块的示意图；Fig. 8 is a schematic diagram of the main modules of a palletizing device according to yet another embodiment of the present invention;
图9是本发明实施例可以应用于其中的示例性系统架构图；FIG. 9 is an exemplary system architecture diagram to which the embodiment of the present invention can be applied;
图10是适于用来实现本发明实施例的电子设备的计算机系统的结构示意图。FIG. 10 is a schematic structural diagram of a computer system suitable for implementing the electronic device of the embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的示范性实施例做出说明，其中包括本发明实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本发明的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
需要指出的是，在不冲突的情况下，本发明中的实施例以及实施例中的特征可以相互组合。It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
图1是根据本发明一个实施例的码垛方法的主要流程的示意图。如图1所示，本发明实施例的码垛方法包括：Fig. 1 is a schematic diagram of the main flow of a palletizing method according to an embodiment of the present invention. As shown in Figure 1, the palletizing method of the embodiment of the present invention comprises:
步骤S101、从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集。Step S101 , selecting the current stacked item from all the items to be stacked, and then constructing a candidate stacking corner point set of the current stacked item.
其中，所述候选码放角点集可理解成容器中能够放置物品的位置点的集合。示例性的，假设共有20件货箱，已经在托盘中码放了5件货箱，则剩下的15件货箱作为待码放物品，从剩下的15件货箱中选出货箱A作为当前码放物品。进一步，货箱A的候选码放角点集可以为{候选码放角点1，候选码放角点2，候选码放角点3}。Wherein, the set of candidate stacking corner points can be understood as a set of position points in the container where items can be placed. For example, suppose there are 20 boxes in total, and 5 boxes have been stacked on the pallet, then the remaining 15 boxes are used as items to be stacked, and box A is selected from the remaining 15 boxes as the current Stack items. Further, the set of candidate stacking corner points of container A may be {candidate stacking corner point 1, candidate stacking corner point 2, candidate stacking corner point 3}.
步骤S102、对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点。Step S102: Evaluate the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, so as to determine the stacking corner point of the current stacked item according to the evaluation result.
步骤S103、判断是否得到所有物品的码放角点。若是，执行步骤S104；若否，重复执行步骤S101至步骤S102，直至得到所有物品的码放角点。Step S103, judging whether the stacking corner points of all items are obtained. If yes, execute step S104; if not, repeatedly execute step S101 to step S102 until the stacking corner points of all items are obtained.
步骤S104、生成码垛垛型。其中，所述码垛垛型可包括：物品与容器的对应关系、物品的码放角点。示例性的，物品与容器的对应关系包括：托盘1对应物品A、B、C、D、E；托盘2对应物品F、G、H、I；物品的码放角点包括：物品A的码放角点(0，0，0)、物品B的码放角点(3，4，5)等。Step S104, generating a palletizing pattern. Wherein, the palletizing type may include: the corresponding relationship between articles and containers, and the stacking corners of articles. Exemplarily, the correspondence between items and containers includes: tray 1 corresponds to items A, B, C, D, E; tray 2 corresponds to items F, G, H, and I; the stacking angle of items includes: the stacking angle of item A point (0, 0, 0), the stacking corner point (3, 4, 5) of item B, etc.
在本发明实施例中，通过以上步骤能够自动生成混合码垛的垛型，降低了混合码垛对于人工经验的要求，提高了混合码垛的效率，改善了混合码垛的效果。进一步，还可将本发明实施例的码垛方法应用于人工码垛的垛型推荐和码垛指导场景中，或者应用于机器码垛的垛型生成和货箱定位等场景中，以提高混合码垛的智能化和自动化水平。In the embodiment of the present invention, the stacking pattern of mixed palletizing can be automatically generated through the above steps, which reduces the requirement of manual experience for mixed palletizing, improves the efficiency of mixed palletizing, and improves the effect of mixed palletizing. Furthermore, the palletizing method of the embodiment of the present invention can also be applied to scenarios such as manual palletizing palletizing recommendation and palletizing guidance, or to scenarios such as machine palletizing palletizing generation and container positioning, so as to improve mixing The level of intelligence and automation of palletizing.
图2是根据本发明另一实施例的码垛方法的主要流程的示意图。如图2所示，本发明实施例的码垛方法包括：Fig. 2 is a schematic diagram of the main flow of a palletizing method according to another embodiment of the present invention. As shown in Figure 2, the palletizing method of the embodiment of the present invention includes:
步骤S201、根据预设的排序规则确定物品的码放顺序。其中，所述预设的排序规则是根据一定的标准确定物品的码放顺序。示例性的，表1示出了几种可选的排序规则。Step S201. Determine the stacking order of the items according to the preset sorting rules. Wherein, the preset sorting rule is to determine the stacking order of the items according to certain standards. Exemplarily, Table 1 shows several optional sorting rules.
表1Table 1
例如，假设物品A的高度为0.5m，体积为0.01m3，物品B的高度为0.4m，体积为0.024m3，物品C的高度为0.3m，体积为0.006m3，按照表1中的排序规则Volume-Height可得到物品的码放顺序为：先码放物品B，再码放物品A，最后码放物品C。For example, suppose item A has a height of 0.5m and a volume of 0.01m3 , item B has a height of 0.4m and a volume of 0.024m3 , item C has a height of 0.3m and a volume of 0.006m3 , according to Table 1 The sorting rule Volume-Height can get the stacking order of items: first stack item B, then stack item A, and finally stack item C.
步骤S202、根据所述码放顺序从所有待码放物品中选取当前码放物品。Step S202, selecting the current stacked item from all the items to be stacked according to the stacking order.
示例性，假设物品的码放顺序为：先码放物品B，再码放物品A，最后码放物品C。在初次进行码放时，待码放物品为物品A、物品B和物品C，当前码放物品为物品B；在第二次进行码放时，待码放物品为物品A和物品C，当前码放物品为物品A；在第三次进行码放时，待码放物品为物品C，当前码放物品为物品C。As an example, assume that the stacking order of the items is: first stacking item B, then stacking item A, and finally stacking item C. When stacking for the first time, the items to be stacked are item A, item B, and item C, and the current stacked item is item B; during the second stacking, the items to be stacked are item A and item C, and the current stacked item is item A ; When stacking for the third time, the item to be stacked is item C, and the item currently stacked is item C.
步骤S203、根据预设的放置规则从容器的可用角点集中选取当前码放物品的候选码放角点，以得到候选码放角点集。Step S203 , selecting candidate stacking corner points of the currently stacked item from the set of available corner points of the container according to preset placement rules, so as to obtain a set of candidate stacking corner points.
示例性的，所述容器可以为托盘。Exemplarily, the container may be a tray.
示例性的，所述预设的放置规则包括以下至少一项：a)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能与当前容器上的已码放物品发生干涉；b)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能超出容器的边界；c)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品的底部支撑面积占比大于或等于预设阈值。其中，所述底部支撑面积占比可理解为“由容器或其他已码放物品为当前码放物品提供的支撑面积与当前码放物品的底面积的比值”。具体实施时，所述预设阈值可根据需求灵活设置。例如，可将所述预设阈值设为0.8。Exemplarily, the preset placement rules include at least one of the following: a) After placing the currently stacked item at an available corner point of the container, the current stacked item cannot interact with the stacked item on the current container interference; b) after placing the currently stacked item at an available corner of the container, the current stacked item cannot exceed the boundary of the container; c) after placing the current stacked item at an available corner of the container, the The proportion of the bottom support area of the currently stacked items is greater than or equal to the preset threshold. Wherein, the ratio of the bottom support area can be understood as "the ratio of the support area provided by the container or other stacked items for the current stacked item to the bottom area of the current stacked item". During specific implementation, the preset threshold can be flexibly set according to requirements. For example, the preset threshold may be set to 0.8.
需要指出的是，步骤S203主要针对第二次码放物品至最后一次码放物品而言。在初次码放物品时，可将第一个物品码放至托盘的指定位置，比如图3所示的坐标原点处。另外，在具体实施时，还可以作如下约束：允许当前码放物品在水平面(XY平面)进行直角旋转，不允许改变当前码放物品的高度面。例如，货箱三边尺寸为：长0.4m(X方向)、宽0.3m(Y方向)、高0.5m(Z方向)，经过在水平面内旋转货箱，可将货箱的三边尺寸变成：长0.3m(X方向)、宽0.4m(Y方向)、高0.5m(Z方向)。It should be pointed out that step S203 is mainly for the second stacking of items to the last stacking of items. When stacking items for the first time, the first item can be stacked on the designated position of the pallet, such as the coordinate origin shown in Figure 3. In addition, during specific implementation, the following restrictions can also be made: the currently stacked items are allowed to rotate at right angles on the horizontal plane (XY plane), and the height plane of the currently stacked items is not allowed to be changed. For example, the dimensions of the three sides of the container are: length 0.4m (X direction), width 0.3m (Y direction), and height 0.5m (Z direction). By rotating the container in the horizontal plane, the dimensions of the three sides of the container can be changed. Composition: length 0.3m (X direction), width 0.4m (Y direction), height 0.5m (Z direction).
步骤S204、判断所述候选码放角点集是否为空。若否，执行步骤S205；若是，执行步骤S206。Step S204, judging whether the set of candidate corner points is empty. If not, execute step S205; if yes, execute step S206.
步骤S205、对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点。Step S205. Evaluate the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, so as to determine the stacking corner point of the current stacked item according to the evaluation result.
在一可选实施方式中，可根据第一效果函数对每个候选码放角点的码放效果进行评估。其中，第一效果函数反映当前码放物品放置于某个候选码放角点时，对于整体垛型的影响。具体实施时，第一效果函数可采用如下形式：In an optional implementation manner, the placement effect of each candidate placement corner point may be evaluated according to the first effect function. Wherein, the first effect function reflects the impact on the overall stacking shape when the current stacking item is placed at a candidate stacking corner point. In specific implementation, the first effect function can take the following form:
其中，epX、epY表示候选码放角点的横坐标、纵坐标；itemX、itemY表示当前码放物品的长度、宽度；envW、envD表示能够容纳容器上所有已码放物品(不包括当前码放物品)的最小长方体的长度、宽度；W表示容器的长度；D表示容器的宽度；Max(0,epX+itemX-envW)表示从0和epX+itemX-envW中取最大值；Max(0,epY+itemY-envD)表示从0和epY+itemY-envD中取最大值。Among them, epX and epY represent the abscissa and ordinate of the candidate stacking corner points; itemX and itemY represent the length and width of the current stacked items; The length and width of the cuboid; W indicates the length of the container; D indicates the width of the container; Max(0,epX+itemX-envW) indicates the maximum value from 0 and epX+itemX-envW; Max(0,epY+itemY- envD) means take the maximum value from 0 and epY+itemY-envD.
其中，和反映了当前码放物品放置在某一候选码放角点后，对所述最小长方体的包络线的扩大程度。在通过第一效果函数计算每个候选码放角点对应的函数值之后，可将函数值最小的候选码放角点作为当前码放物品的码放角点。意即，尽量选择对所述最小长方体的包络线的扩大程度最小的候选码放角点。in, and It reflects the degree of expansion of the envelope of the smallest cuboid after the current stacked item is placed at a certain candidate stacking corner point. After calculating the function value corresponding to each candidate stacking corner point through the first effect function, the candidate stacking corner point with the smallest function value can be used as the stacking corner point of the current stacking item. That is to say, try to select the candidate placement corner point with the least expansion degree to the envelope of the smallest cuboid.
在另一可选实施方式中，可根据第二效果函数对每个候选码放角点的码放效果进行评估，然后选取函数值最大的角点。其中，第二效果函数反映当前码放物品放置于某个候选码放角点时，对该候选码放角点的剩余空间的利用程度。具体实施时，第二效果函数可采用如下形式：In another optional implementation manner, the placement effect of each candidate placement corner point may be evaluated according to the second effect function, and then the corner point with the largest function value may be selected. Wherein, the second effect function reflects the utilization degree of the remaining space of the candidate stacking corner point when the current stacking item is placed at the candidate stacking corner point. During specific implementation, the second effect function can take the following form:
SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)SUM(rsX-itemX, rsY-itemY, rsZ-itemZ)
其中，rsX、rsY、rsZ表示某一候选码放角点的剩余空间的三边尺寸；itemX、itemY、itemZ表示当前码放物品的三边尺寸；SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)表示对rsX-itemX、rsY-itemY、rsZ-itemZ三项求和。Among them, rsX, rsY, and rsZ represent the three-sided dimensions of the remaining space of a candidate stacking corner point; itemX, itemY, and itemZ represent the three-sided dimensions of the current stacked item; SUM(rsX-itemX, rsY-itemY, rsZ-itemZ) Indicates the sum of rsX-itemX, rsY-itemY, and rsZ-itemZ.
在通过第二效果函数计算每个候选码放角点对应的函数值之后，可将函数值最大的候选码放角点作为当前码放物品的码放角点。意即，尽量选择对剩余空间利用率最高的候选码放角点。After the function value corresponding to each candidate stacking corner point is calculated through the second effect function, the candidate stacking corner point with the largest function value can be used as the stacking corner point of the current stacking item. That is to say, try to select the candidate stacking corner point with the highest utilization rate of the remaining space.
步骤S206、新开设一空容器，并将所述空容器的指定位置作为所述当前码放物品的码放角点。Step S206, open a new empty container, and use the specified position of the empty container as the stacking corner point of the currently stacked item.
其中，所述指定位置可以是图3所示的坐标原点处。在步骤S205或步骤S206之后，可执行步骤S207。Wherein, the designated position may be the origin of the coordinates shown in FIG. 3 . After step S205 or step S206, step S207 may be executed.
步骤S207、判断是否得到所有物品的码放角点。若是，执行步骤S208；若否，可执行步骤S209。Step S207, judging whether the stacking corner points of all items are obtained. If yes, execute step S208; if not, execute step S209.
步骤S208、生成码垛垛型。Step S208, generating a palletizing pattern.
其中，所述码垛垛型可包括：物品与容器的对应关系、物品的码放角点。示例性的，物品与容器的对应关系包括：托盘1对应物品A、B、C、D、E；托盘2对应物品F、G、H、I；物品的码放角点包括：物品A的码放角点(0，0，0)、物品B的码放角点(3，4，5)等。Wherein, the palletizing type may include: the corresponding relationship between articles and containers, and the stacking corners of articles. Exemplarily, the correspondence between items and containers includes: tray 1 corresponds to items A, B, C, D, E; tray 2 corresponds to items F, G, H, and I; the stacking angle of items includes: the stacking angle of item A point (0, 0, 0), the stacking corner point (3, 4, 5) of item B, etc.
步骤S209、更新容器的可用角点集。Step S209, updating the set of available corner points of the container.
其中，该步骤具体包括：1)从容器的可用角点集中删除所述当前码放物品的码放角点；2)从所述可用角点集中删除被所述当前码放物品覆盖的角点；3)将在放置所述当前码放物品之后产生的新角点添加至所述可用角点集中；4)删除所述可用角点集中的重复角点。Wherein, this step specifically includes: 1) deleting the corner points of the currently stacked items from the set of available corner points of the container; 2) deleting the corner points covered by the current stacked items from the set of available corner points; 3) Adding new corner points generated after placing the current stacked item to the set of available corner points; 4) deleting repeated corner points in the set of available corner points.
在步骤S209之后，重复执行步骤S201至步骤S207，直至得到所有物品的码放角点。After step S209, step S201 to step S207 are repeatedly executed until the stacking corner points of all items are obtained.
进一步，在步骤S208之后，本发明实施例的码垛方法还可包括以下步骤：对所述码垛垛型进行优化。Further, after step S208, the palletizing method in the embodiment of the present invention may further include the following step: optimizing the palletizing type.
具体来说，所述对所述码垛垛型进行优化包括：Specifically, the optimization of the palletizing type includes:
步骤A、根据邻域生成策略更改所述物品与容器的对应关系，以得到每个容器对应的新的物品集。Step A: Change the corresponding relationship between the item and the container according to the neighborhood generation strategy, so as to obtain a new item set corresponding to each container.
在该步骤中，可采用基因遗传算法、禁忌搜索等邻域生成策略对多个容器(比如托盘)上的码放物品进行交换、加减等操作，以得到每个容器对应的新的物品集。In this step, neighbor generation strategies such as genetic algorithm and tabu search can be used to perform operations such as exchange, addition and subtraction on items stacked on multiple containers (such as pallets) to obtain a new item set corresponding to each container.
步骤B、在得到所述新的物品集中每个物品的码放角点之后，生成新的码垛垛型。Step B. After obtaining the stacking corner points of each item in the new item set, generate a new palletizing pattern.
在该步骤中，可对所述新的物品集中执行图2所示步骤，以得到每个物品的码放角点，进而生成新的码垛垛型。In this step, the steps shown in FIG. 2 can be collectively performed on the new items to obtain the stacking corner points of each item, and then generate a new palletizing pattern.
步骤C、对所述新的码垛垛型的质量进行评估，并根据评估结果判断是否更新当前优化垛型；Step C, evaluating the quality of the new palletizing type, and judging whether to update the current optimized palletizing type according to the evaluation result;
在该步骤中，可通过量化指标计算码垛垛型的质量。在新的码垛垛型的质量高于原有码垛垛型的质量的情况下，更新当前优化垛型；在新的码垛垛型的质量小于或等于原有码垛垛型的质量的情况下，不对当前优化垛型进行更新。重复执行步骤步骤A至步骤C，直至达到优化停止条件。In this step, the quality of the palletized pallet can be calculated through quantitative indicators. When the quality of the new stacking type is higher than that of the original stacking type, update the current optimized stacking type; when the quality of the new stacking type is less than or equal to the quality of the original stacking type In this case, the current optimized stack type will not be updated. Repeat steps Step A to Step C until the optimization stop condition is reached.
步骤D、在达到优化停止条件时，将所述当前优化垛型作为最终的码垛垛型。Step D. When the optimization stop condition is reached, the currently optimized stacking pattern is used as the final palletizing pattern.
其中，所述优化停止条件可以为计算时间或者可以接受的垛型质量的下限值。Wherein, the optimization stop condition may be the calculation time or the lower limit value of the acceptable stack quality.
在本发明实施例中，通过以上步骤能够自动生成混合码垛的垛型，降低了混合码垛对于人工经验的要求，提高了混合码垛的效率，改善了混合码垛的效果。进一步，还可将本发明实施例的码垛方法应用于人工码垛的垛型推荐和码垛指导场景中，或者应用于机器码垛的垛型生成和货箱定位等场景中，以提高混合码垛的智能化和自动化水平。In the embodiment of the present invention, the stacking pattern of mixed palletizing can be automatically generated through the above steps, which reduces the requirement of manual experience for mixed palletizing, improves the efficiency of mixed palletizing, and improves the effect of mixed palletizing. Furthermore, the palletizing method of the embodiment of the present invention can also be applied to scenarios such as manual palletizing palletizing recommendation and palletizing guidance, or to scenarios such as machine palletizing palletizing generation and container positioning, so as to improve mixing The level of intelligence and automation of palletizing.
下面结合图3对图2所示实施例中的步骤S209作进一步说明。图3是根据本发明实施例的混合码垛的空间表达示意图。如图3所示，假设托盘平放于底面，以托盘上表面的左-后点为原点建立三维直角坐标系。由原点向X轴、Y轴、Z轴分别发射射线直至托盘的各边界界限，所围合的空间就是托盘的初始可用容积。Step S209 in the embodiment shown in FIG. 2 will be further described below in conjunction with FIG. 3 . Fig. 3 is a schematic diagram of spatial representation of mixed palletizing according to an embodiment of the present invention. As shown in Figure 3, assuming that the tray is placed flat on the bottom surface, a three-dimensional Cartesian coordinate system is established with the left-back point on the upper surface of the tray as the origin. Rays are emitted from the origin to the X-axis, Y-axis, and Z-axis to reach the boundaries of the pallet, and the enclosed space is the initial usable volume of the pallet.
其中，“可用角点”可理解为托盘空间中可以用来放置新货箱的点。在向托盘放置第一件货箱时，将第一件货箱放置于指定位置，比如原点。当托盘上放置了第一件货箱之后，角点(0，0，0)被占用，但是又生成了三个新的角点，即图3左部分所示的角点1、角点2和角点3。因此，在向托盘放置第二件货箱时，托盘的可用角点集更新为{角点1，角点2，角点3}。Among them, "available corner point" can be understood as a point in the pallet space that can be used to place a new container. When placing the first case on the pallet, place the first case at a specified location, such as the origin. When the first container is placed on the pallet, the corner point (0, 0, 0) is occupied, but three new corner points are generated, that is, corner point 1 and corner point 2 shown in the left part of Figure 3 and corner point 3. Therefore, when placing a second case on the pallet, the set of available corners for the pallet is updated to {corner 1, corner 2, corner 3}.
更为一般地，如图3右部分所示，假设将第K件货箱放置到托盘上的某个角点C。此时，可按如下方式产生新的角点：More generally, as shown in the right part of Figure 3, it is assumed that the K-th container is placed on a certain corner C on the pallet. At this point, new corner points can be generated as follows:
1)Zup点是一个新产生的角点。1) The Zup point is a newly generated corner point.
2)由Zdown点出发向Z轴负向发射射线，直至抵达托盘表面或者与最近的货箱上表面接触。如果接触点与Zdown点不重合，则这个接触点是一个新产生的角点。2) Starting from the Zdown point, emit a ray in the negative direction of the Z axis until it reaches the surface of the pallet or contacts the upper surface of the nearest container. If the contact point does not coincide with the Zdown point, then this contact point is a newly generated corner point.
3)从当前码放货箱的三个点(分别是当前码放货箱的左-后-上点、左-前-下点、右-后-下点)发射射线，即Zx、Zy、Yx、Yz、Xy、Xz。其中，Xz和Yz为向Z轴负向发射的射线，直至与托盘边界或者最近的货箱面相接触，由此产生的两个接触点为新产生的角点。Zx、Zy、Yx、Xy为向对应的方向水平发射的射线，直至与托盘边界或者最近的货箱面相接触，若由此产生的接触点本身有高度方向的支撑(即该接触点位于托盘底面或者货箱顶面)，则该接触点为新产生的角点；否则，需要将接触点向Z轴负向垂直移动，直至满足“接触点有高度方向的支撑”这一条件，垂直移动后的接触点为新产生的角点。3) Emit rays from three points of the current stacked container (respectively, the left-back-upper point, left-front-lower point, right-back-lower point of the current stacked container), namely Zx, Zy, Yx, Yz, Xy, Xz. Among them, Xz and Yz are the rays emitted in the negative direction of the Z axis until they touch the pallet boundary or the nearest container surface, and the resulting two contact points are newly generated corner points. Zx, Zy, Yx, Xy are the rays emitted horizontally in the corresponding direction until they touch the pallet boundary or the nearest container surface, if the resulting contact point itself has support in the height direction (that is, the contact point is located on the bottom surface of the pallet or the top surface of the container), then the contact point is a newly generated corner point; otherwise, the contact point needs to be moved vertically to the negative direction of the Z axis until the condition of "the contact point is supported in the height direction" is satisfied, and after the vertical movement The contact point of is the newly generated corner point.
根据步骤1)、2)、3)对图3左部分这一特殊情况进行分析可得到：图3左部分的点3相当于Zup，是一个新产生的角点，由Zdown点出发向Z轴负向发射射线所产生的接触点与Zdown点重合，故不能作为新的角点；由点1、点2、点3所作射线Xy、Xz、Yx、Yz、Zx、Zy产生的接触点为点1、点2、点3本身。因此在删除重复的角点之后，图3所示左部分的可用角点为点1、点2和点3。According to steps 1), 2), and 3) to analyze the special situation of the left part of Figure 3, it can be obtained that point 3 in the left part of Figure 3 is equivalent to Zup, which is a newly generated corner point, starting from the Zdown point to the Z axis The contact point generated by the negative emission rays coincides with the Zdown point, so it cannot be used as a new corner point; the contact points generated by the rays Xy, Xz, Yx, Yz, Zx, and Zy made by point 1, point 2, and point 3 are points 1, point 2, point 3 itself. Therefore, after deleting the repeated corner points, the available corner points of the left part shown in Fig. 3 are point 1, point 2 and point 3.
下面结合图4对图2所示实施例中的“剩余空间”的概念作进一步说明。图4是根据本发明实施例的角点的剩余空间的二维示意图。如图4所示，左部分中的灰色区域为角点2当前的剩余空间，当放下一件货箱后，更新后的角点2的剩余空间如图4中的右部分灰色区域所示。The concept of "surplus space" in the embodiment shown in FIG. 2 will be further described below in conjunction with FIG. 4 . Fig. 4 is a two-dimensional schematic diagram of the remaining space of corner points according to an embodiment of the present invention. As shown in Figure 4, the gray area in the left part is the current remaining space of corner 2. When a container is placed, the updated remaining space of corner 2 is shown in the gray area in the right part of Figure 4.
更为一般地，角点的剩余空间可定义如下：以角点为起点，沿X轴、Y轴、Z轴正向发射射线，直至达到托盘边界或者货箱面，由这三条射线围合成的长方体空间为角点的剩余空间。在使用第二效果函数进行评估时，由于新的货箱码放后会对现有的角点的剩余空间造成干涉，因此在放置新的货箱之后不仅需要更新可用角点集，还需更新角点的剩余空间。More generally, the remaining space of a corner point can be defined as follows: start from the corner point, emit rays along the X-axis, Y-axis, and Z-axis in the forward direction until reaching the pallet boundary or the surface of the container, and the resultant space composed of these three rays The cuboid space is the remaining space of the corner points. When using the second effect function for evaluation, since the new container will interfere with the remaining space of the existing corner points after placing the new container, it is necessary not only to update the set of available corner points but also to update the corner point set after placing the new container. The remaining space of the point.
图5是根据本发明再一实施例的码垛方法的主要流程的示意图。如图5所示，本发明实施例的码垛方法包括：Fig. 5 is a schematic diagram of the main flow of a palletizing method according to yet another embodiment of the present invention. As shown in Figure 5, the palletizing method of the embodiment of the present invention includes:
步骤S501、构建所有待码放物品的候选码放角点集。Step S501, constructing a set of candidate stacking corner points for all items to be stacked.
其中，所述候选码放角点集可理解成容器中能够放置物品的位置点的集合。示例性的，假设共有10件货箱，已经在托盘中码放了5件货箱，则剩下的5件货箱作为待码放物品，分别为货箱A、货箱B、货箱C、货箱D、货箱E。进一步，A至E这五件货箱的候选码放角点集可以为：{候选码放角点1，候选码放角点2，候选码放角点3}。Wherein, the set of candidate stacking corner points can be understood as a set of position points in the container where items can be placed. Exemplarily, assuming that there are 10 containers in total, and 5 containers have been stacked on the pallet, the remaining 5 containers are used as items to be stacked, which are respectively container A, container B, container C, and Box D, cargo box E. Further, the set of candidate stacking corners for the five containers A to E may be: {candidate stacking corner 1, candidate stacking corner 2, candidate stacking corner 3}.
步骤S502、对所述候选码放角点集中每个候选码放角点的码放效果进行评估，以根据评估结果确定当前码放物品以及所述当前码放物品的码放角点。Step S502: Evaluate the stacking effect of each candidate stacking corner point in the set of candidate stacking corner points, so as to determine the current stacked item and the stacking corner point of the current stacked item according to the evaluation result.
步骤S503、判断是否得到所有物品的码放角点。若是，执行步骤S504；若否，重复执行步骤S501至步骤S502，直至得到所有物品的码放角点。Step S503, judging whether the stacking corner points of all items are obtained. If yes, execute step S504; if no, repeatedly execute step S501 to step S502 until the stacking corner points of all items are obtained.
步骤S504、生成码垛垛型。Step S504, generating a palletizing pattern.
图5所示实施例与图1所示实施例的主要区别在于：图5所示实施例采取的是“动态排序”，即对所有待码放物品对所有候选码放角点的组合进行比较，通过计算效果函数选出最优组合，以确定当前码放物品与当前码放物品的码放角点；图1所示实施例采取的是“静态排序”，即先确定当前码放物品，再通过效果函数选出与之对应的最优的候选码放角点，以确定当前码放物品的码放角点。The main difference between the embodiment shown in Figure 5 and the embodiment shown in Figure 1 is that the embodiment shown in Figure 5 adopts "dynamic sorting", that is, all items to be stacked are compared with the combinations of all candidate stacking corner points, by Calculate the effect function to select the optimal combination to determine the current stacked items and the stacking corners of the current stacked items; the embodiment shown in Figure 1 adopts "static sorting", that is, first determine the current stacked items, and then use the effect function to select Corresponding to the optimal candidate stacking corner point to determine the stacking corner point of the current stacked item.
在本发明实施例中，通过以上步骤能够自动生成混合码垛的垛型，降低了混合码垛对于人工经验的要求，提高了混合码垛的效率，改善了混合码垛的效果。与采用“静态排序”的码垛方法相比，采用“动态排序”能够进一步改善混合码垛的效果。In the embodiment of the present invention, the stacking pattern of mixed palletizing can be automatically generated through the above steps, which reduces the requirement of manual experience for mixed palletizing, improves the efficiency of mixed palletizing, and improves the effect of mixed palletizing. Compared with the palletizing method using "static sorting", the use of "dynamic sorting" can further improve the effect of mixed palletizing.
图6是根据本发明一个实施例的码垛装置的主要模块的示意图。如图6所示，本发明实施例的码垛装置600包括：构建模块601、确定模块602、生成模块603。Fig. 6 is a schematic diagram of main modules of a palletizing device according to an embodiment of the present invention. As shown in FIG. 6 , the palletizing device 600 of the embodiment of the present invention includes: a construction module 601 , a determination module 602 , and a generation module 603 .
构建模块601，用于从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集。A construction module 601, configured to select a current stacked item from all items to be stacked, and then construct a candidate stacking corner point set of the current stacked item.
其中，所述候选码放角点集可理解成容器中能够放置物品的位置点的集合。示例性的，假设共有20件货箱，已经在托盘中码放了5件货箱，则剩下的15件货箱作为待码放物品，从剩下的15件货箱中选出货箱A作为当前码放物品。进一步，货箱A的候选码放角点集可以为{候选码放角点1，候选码放角点2，候选码放角点3}。Wherein, the set of candidate stacking corner points can be understood as a set of position points in the container where items can be placed. For example, suppose there are 20 boxes in total, and 5 boxes have been stacked on the pallet, then the remaining 15 boxes are used as items to be stacked, and box A is selected from the remaining 15 boxes as the current Stack items. Further, the set of candidate stacking corner points of container A may be {candidate stacking corner point 1, candidate stacking corner point 2, candidate stacking corner point 3}.
确定模块602，用于对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点。The determining module 602 is configured to evaluate the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, so as to determine the stacking corner point of the current stacked item according to the evaluation result.
在进行混合码垛时，需要重复调用构建模块601和确定模块602，直至得到所有物品的码放角点。When performing mixed palletizing, it is necessary to repeatedly call the construction module 601 and the determination module 602 until the stacking corner points of all items are obtained.
生成模块603，用于在得到所有物品的码放角点之后，生成码垛垛型。The generating module 603 is configured to generate a palletizing pattern after obtaining the stacking corner points of all items.
其中，所述码垛垛型可包括：物品与容器的对应关系、物品的码放角点。示例性的，物品与容器的对应关系包括：托盘1对应物品A、B、C、D、E；托盘2对应物品F、G、H、I；物品的码放角点包括：物品A的码放角点(0，0，0)、物品B的码放角点(3，4，5)等。Wherein, the palletizing type may include: the corresponding relationship between articles and containers, and the stacking corners of articles. Exemplarily, the correspondence between items and containers includes: tray 1 corresponds to items A, B, C, D, E; tray 2 corresponds to items F, G, H, and I; the stacking angle of items includes: the stacking angle of item A point (0, 0, 0), the stacking corner point (3, 4, 5) of item B, etc.
在本发明实施例中，通过以上码垛装置能够自动生成混合码垛的垛型，降低混合码垛对于人工经验的要求，提高混合码垛的效率，改善混合码垛的效果。进一步，还可将本发明实施例的码垛装置应用于人工码垛的垛型推荐和码垛指导场景中，或者应用于机器码垛的垛型生成和货箱定位等场景中，以提高混合码垛的智能化和自动化水平。In the embodiment of the present invention, the above palletizing device can automatically generate the stacking pattern of mixed palletizing, reduce the requirement of manual experience for mixed palletizing, improve the efficiency of mixed palletizing, and improve the effect of mixed palletizing. Further, the palletizing device of the embodiment of the present invention can also be applied to scenarios such as manual palletizing palletizing recommendation and palletizing guidance, or to scenarios such as machine palletizing palletizing generation and container positioning, so as to improve mixing The level of intelligence and automation of palletizing.
图7是根据本发明另一实施例的码垛装置的主要模块的示意图。如图7所示，本发明实施例的码垛装置700包括：排序模块701、构建模块702、确定模块703、更新模块704、生成模块705。Fig. 7 is a schematic diagram of main modules of a palletizing device according to another embodiment of the present invention. As shown in FIG. 7 , the palletizing device 700 of the embodiment of the present invention includes: a sorting module 701 , a building module 702 , a determining module 703 , an updating module 704 , and a generating module 705 .
排序模块701，用于根据预设的排序规则确定物品的码放顺序。A sorting module 701, configured to determine the stacking sequence of items according to preset sorting rules.
其中，所述预设的排序规则是根据一定的标准确定物品的码放顺序。表1示出了几种可选的排序规则。示例性的，假设物品A的高度为0.5m，体积为0.01m3，物品B的高度为0.4m，体积为0.024m3，物品C的高度为0.3m，体积为0.006m3，按照表1中的排序规则Volume-Height可得到物品的码放顺序为：先码放物品B，再码放物品A，最后码放物品C。Wherein, the preset sorting rule is to determine the stacking order of the items according to certain standards. Table 1 shows several optional collation rules. Exemplarily, suppose item A has a height of 0.5m and a volume of 0.01m3 , item B has a height of 0.4m and a volume of 0.024m3 , item C has a height of 0.3m and a volume of 0.006m3 , according to Table 1 According to the sorting rule Volume-Height in , the stacking order of items can be obtained: first stack item B, then stack item A, and finally stack item C.
构建模块702，用于根据所述码放顺序从所有待码放物品中选取当前码放物品，然后根据预设的放置规则从容器的可用角点集中选取当前码放物品的候选码放角点，以得到候选码放角点集。The construction module 702 is used to select the current stacking item from all the items to be stacked according to the stacking order, and then select the candidate stacking corner point of the current stacking item from the available corner points of the container according to the preset placement rules to obtain the candidate stacking Corner set.
示例性，假设物品的码放顺序为：先码放物品B，再码放物品A，最后码放物品C。在初次进行码放时，待码放物品为物品A、物品B和物品C，当前码放物品为物品B；在第二次进行码放时，待码放物品为物品A和物品C，当前码放物品为物品A；在第三次进行码放时，待码放物品为物品C，当前码放物品为物品C。As an example, assume that the stacking order of the items is: first stacking item B, then stacking item A, and finally stacking item C. When stacking for the first time, the items to be stacked are item A, item B, and item C, and the current stacked item is item B; during the second stacking, the items to be stacked are item A and item C, and the current stacked item is item A ; When stacking for the third time, the item to be stacked is item C, and the item currently stacked is item C.
示例性的，所述预设的放置规则包括以下至少一项：a)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能与当前容器上的已码放物品发生干涉；b)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品不能超出容器的边界；c)在将所述当前码放物品放置于容器的可用角点之后，所述当前码放物品的底部支撑面积占比大于或等于预设阈值。其中，所述底部支撑面积占比可理解为“由容器或其他已码放物品为当前码放物品提供的支撑面积与当前码放物品的底面积的比值”。具体实施时，所述预设阈值可根据需求灵活设置。例如，可将所述预设阈值设为0.8。Exemplarily, the preset placement rules include at least one of the following: a) After placing the currently stacked item at an available corner point of the container, the current stacked item cannot interact with the stacked item on the current container interference; b) after placing the currently stacked item at an available corner of the container, the current stacked item cannot exceed the boundary of the container; c) after placing the current stacked item at an available corner of the container, the The proportion of the bottom support area of the currently stacked items is greater than or equal to the preset threshold. Wherein, the ratio of the bottom support area can be understood as "the ratio of the support area provided by the container or other stacked items for the current stacked item to the bottom area of the current stacked item". During specific implementation, the preset threshold can be flexibly set according to requirements. For example, the preset threshold may be set to 0.8.
需要指出的是，构建模块执行的“根据预设的放置规则从容器的可用角点集中选取当前码放物品的候选码放角点”这一操作主要针对第二次码放物品至最后一次码放物品而言。在初次码放物品时，构建模块可将第一个物品码放至托盘的指定位置，比如图3所示的坐标原点处。It should be pointed out that the operation of "selecting the candidate stacking corner points of the currently stacked items from the available corner point set of the container according to the preset placement rules" performed by the building module is mainly for the second stacking of items to the last stacking of items . When stacking items for the first time, the building module can stack the first item to the designated position of the pallet, such as the coordinate origin shown in Figure 3.
确定模块703，用于在所述候选码放角点集不为空的情况下，对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点。A determination module 703, configured to evaluate the placement effect of each candidate placement corner point set in the candidate placement corner point set when the candidate placement corner point set is not empty, so as to determine the current The stacking corner of the stacked items.
在一可选实施方式中，确定模块703可根据第一效果函数对每个候选码放角点的码放效果进行评估。其中，第一效果函数反映当前码放物品放置于某个候选码放角点时，对于整体垛型的影响。具体实施时，第一效果函数可采用如下形式：In an optional implementation manner, the determining module 703 may evaluate the placement effect of each candidate placement corner point according to the first effect function. Wherein, the first effect function reflects the impact on the overall stacking shape when the current stacking item is placed at a candidate stacking corner point. In specific implementation, the first effect function can take the following form:
其中，epX、epY表示候选码放角点的横坐标、纵坐标；itemX、itemY表示当前码放物品的长度、宽度；envW、envD表示能够容纳容器上所有已码放物品(不包括当前码放物品)的最小长方体的长度、宽度；W表示容器的长度；D表示容器的宽度；Max(0,epX+itemX-envW)表示从0和epX+itemX-envW中取最大值；Max(0,epY+itemY-envD)表示从0和epY+itemY-envD中取最大值。Among them, epX and epY represent the abscissa and ordinate of the candidate stacking corner points; itemX and itemY represent the length and width of the current stacked items; The length and width of the cuboid; W indicates the length of the container; D indicates the width of the container; Max(0,epX+itemX-envW) indicates the maximum value from 0 and epX+itemX-envW; Max(0,epY+itemY- envD) means take the maximum value from 0 and epY+itemY-envD.
其中，和反映了当前码放物品放置在某一候选码放角点后，对所述最小长方体的包络线的扩大程度。在通过第一效果函数计算每个候选码放角点对应的函数值之后，可将函数值最小的候选码放角点作为当前码放物品的码放角点。意即，尽量选择对所述最小长方体的包络线的扩大程度最小的候选码放角点。in, and It reflects the degree of expansion of the envelope of the smallest cuboid after the current stacked item is placed at a certain candidate stacking corner point. After calculating the function value corresponding to each candidate stacking corner point through the first effect function, the candidate stacking corner point with the smallest function value can be used as the stacking corner point of the current stacking item. That is to say, try to select the candidate placement corner point with the least expansion degree to the envelope of the smallest cuboid.
在另一可选实施方式中，确定模块703可根据第二效果函数对每个候选码放角点的码放效果进行评估，然后选取函数值最大的角点。其中，第二效果函数反映当前码放物品放置于某个候选码放角点时，对该候选码放角点的剩余空间的利用程度。具体实施时，第二效果函数可采用如下形式：In another optional implementation manner, the determination module 703 may evaluate the placement effect of each candidate placement corner point according to the second effect function, and then select the corner point with the largest function value. Wherein, the second effect function reflects the utilization degree of the remaining space of the candidate stacking corner point when the current stacking item is placed at the candidate stacking corner point. During specific implementation, the second effect function can take the following form:
SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)SUM(rsX-itemX, rsY-itemY, rsZ-itemZ)
其中，rsX、rsY、rsZ表示某一候选码放角点的剩余空间的三边尺寸；itemX、itemY、itemZ表示当前码放物品的三边尺寸；SUM(rsX-itemX,rsY-itemY,rsZ-itemZ)表示对rsX-itemX、rsY-itemY、rsZ-itemZ三项求和。Among them, rsX, rsY, and rsZ represent the three-sided dimensions of the remaining space of a candidate stacking corner point; itemX, itemY, and itemZ represent the three-sided dimensions of the current stacked item; SUM(rsX-itemX, rsY-itemY, rsZ-itemZ) Indicates the sum of rsX-itemX, rsY-itemY, and rsZ-itemZ.
在通过第二效果函数计算每个候选码放角点对应的函数值之后，可将函数值最大的候选码放角点作为当前码放物品的码放角点。意即，尽量选择对剩余空间利用率最高的候选码放角点。After the function value corresponding to each candidate stacking corner point is calculated through the second effect function, the candidate stacking corner point with the largest function value can be used as the stacking corner point of the current stacking item. That is to say, try to select the candidate stacking corner point with the highest utilization rate of the remaining space.
确定模块703还用于在所述候选码放角点集为空的情况下，新开设一空容器，并将所述空容器的指定位置作为所述当前码放物品的码放角点。其中，所述指定位置可以是图3所示的坐标原点处。The determining module 703 is further configured to open a new empty container when the set of candidate stacking corner points is empty, and use the specified position of the empty container as the stacking corner point of the currently stacked item. Wherein, the designated position may be the origin of the coordinates shown in FIG. 3 .
更新模块704，用于在确认未得到所有物品的码放角点的情况下，更新容器的可用角点集。An updating module 704, configured to update the set of available corner points of the container when it is confirmed that the stacking corner points of all items have not been obtained.
其中，更新模块704更新容器的可用角点集具体包括：1)更新模块704从容器的可用角点集中删除所述当前码放物品的码放角点；2)更新模块704从所述可用角点集中删除被所述当前码放物品覆盖的角点；3)更新模块704将在放置所述当前码放物品之后产生的新角点添加至所述可用角点集中；4)更新模块704删除所述可用角点集中的重复角点。Wherein, the updating module 704 updating the available corner point set of the container specifically includes: 1) the updating module 704 deletes the stacking corner point of the currently stacked item from the available corner point set of the container; Delete the corner points covered by the current stacked items; 3) The update module 704 adds the new corner points generated after placing the current stacked items to the set of available corner points; 4) The update module 704 deletes the available corner points Repeated corner points in point sets.
在更新模块704更新容器的可用角点集之后，可重复调用构建模块702和确定模块703，直至得到所有物品的码放角点。After the update module 704 updates the set of available corner points of the container, the construction module 702 and the determination module 703 may be called repeatedly until the stacking corner points of all items are obtained.
生成模块705，用于在确认得到所有物品的码放角点的情况下，生成码垛垛型。The generating module 705 is configured to generate a palletizing pattern when it is confirmed that the stacking corners of all items are obtained.
其中，所述码垛垛型可包括：物品与容器的对应关系、物品的码放角点。示例性的，物品与容器的对应关系包括：托盘1对应物品A、B、C、D、E；托盘2对应物品F、G、H、I；物品的码放角点包括：物品A的码放角点(0，0，0)、物品B的码放角点(3，4，5)等。Wherein, the palletizing type may include: the corresponding relationship between articles and containers, and the stacking corners of articles. Exemplarily, the correspondence between items and containers includes: tray 1 corresponds to items A, B, C, D, E; tray 2 corresponds to items F, G, H, and I; the stacking angle of items includes: the stacking angle of item A point (0, 0, 0), the stacking corner point (3, 4, 5) of item B, etc.
进一步，本发明实施例的码垛装置700还可包括以下模块：优化模块，用于对所述码垛垛型进行优化。Further, the palletizing device 700 in the embodiment of the present invention may further include the following modules: an optimization module, configured to optimize the palletizing pattern.
具体来说，优化模块所述对所述码垛垛型进行优化包括：根据邻域生成策略更改所述物品与容器的对应关系，以得到每个容器对应的新的物品集；在得到所述新的物品集中每个物品的码放角点之后，生成新的码垛垛型；对所述新的码垛垛型的质量进行评估，并根据评估结果判断是否更新当前优化垛型；在达到优化停止条件时，将所述当前优化垛型作为最终的码垛垛型。其中，所述优化停止条件可以为计算时间或者可以接受的垛型质量的下限值。Specifically, the optimization module said optimizing the palletizing type includes: changing the corresponding relationship between the item and the container according to the neighborhood generation strategy to obtain a new item set corresponding to each container; after obtaining the After the stacking corner of each item in the new collection of items, a new palletizing type is generated; the quality of the new palletizing type is evaluated, and it is judged whether to update the current optimized stacking type according to the evaluation result; when the optimization is achieved When the stop condition occurs, the current optimized stacking type is used as the final palletizing stacking type. Wherein, the optimization stop condition may be the calculation time or the lower limit value of the acceptable stack quality.
在本发明实施例中，通过以上装置能够自动生成混合码垛的垛型，降低了混合码垛对于人工经验的要求，提高了混合码垛的效率，改善了混合码垛的效果。进一步，还可将本发明实施例的码垛装置应用于人工码垛的垛型推荐和码垛指导场景中，或者应用于机器码垛的垛型生成和货箱定位等场景中，以提高混合码垛的智能化和自动化水平。In the embodiment of the present invention, the above device can automatically generate the stacking pattern of mixed palletizing, which reduces the requirement of manual experience for mixed palletizing, improves the efficiency of mixed palletizing, and improves the effect of mixed palletizing. Further, the palletizing device of the embodiment of the present invention can also be applied to scenarios such as manual palletizing palletizing recommendation and palletizing guidance, or to scenarios such as machine palletizing palletizing generation and container positioning, so as to improve mixing The level of intelligence and automation of palletizing.
图8是根据本发明再一实施例的码垛装置的主要模块的示意图。如图8所示，本发明实施例的码垛装置800包括：构建模块801、确定模块802、生成模块803。Fig. 8 is a schematic diagram of main modules of a palletizing device according to yet another embodiment of the present invention. As shown in FIG. 8 , the palletizing device 800 of the embodiment of the present invention includes: a construction module 801 , a determination module 802 , and a generation module 803 .
构建模块801，用于构建所有待码放物品的候选码放角点集。A construction module 801, configured to construct a set of candidate stacking corner points for all items to be stacked.
其中，所述候选码放角点集可理解成容器中能够放置物品的位置点的集合。示例性的，假设共有10件货箱，已经在托盘中码放了5件货箱，则剩下的5件货箱作为待码放物品，分别为货箱A、货箱B、货箱C、货箱D、货箱E。进一步，A至E这五件货箱的候选码放角点集可以为：{候选码放角点1，候选码放角点2，候选码放角点3}。Wherein, the set of candidate stacking corner points can be understood as a set of position points in the container where items can be placed. For example, assuming that there are 10 containers in total, and 5 containers have been stacked on the pallet, the remaining 5 containers are used as items to be stacked, which are respectively container A, container B, container C, and Box D, cargo box E. Further, the set of candidate stacking corners for the five containers A to E may be: {candidate stacking corner 1, candidate stacking corner 2, candidate stacking corner 3}.
确定模块802，用于对所述候选码放角点集中每个候选码放角点的码放效果进行评估，以根据评估结果确定当前码放物品以及所述当前码放物品的码放角点。The determining module 802 is configured to evaluate the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, so as to determine the currently stacked item and the stacking corner point of the currently stacked item according to the evaluation result.
在进行混合码垛时，需要重复调用构建模块801和确定模块802，直至得到所有物品的码放角点。When performing mixed palletizing, it is necessary to repeatedly call the construction module 801 and the determination module 802 until the stacking corner points of all items are obtained.
生成模块803，用于在得到所有物品的码放角点之后，生成码垛垛型。The generation module 803 is used to generate the palletizing pattern after obtaining the stacking corner points of all items.
其中，所述码垛垛型可包括：物品与容器的对应关系、物品的码放角点。示例性的，物品与容器的对应关系包括：托盘1对应物品A、B、C、D、E；托盘2对应物品F、G、H、I；物品的码放角点包括：物品A的码放角点(0，0，0)、物品B的码放角点(3，4，5)等。Wherein, the palletizing type may include: the corresponding relationship between articles and containers, and the stacking corners of articles. Exemplarily, the correspondence between items and containers includes: tray 1 corresponds to items A, B, C, D, E; tray 2 corresponds to items F, G, H, and I; the stacking angle of items includes: the stacking angle of item A point (0, 0, 0), the stacking corner point (3, 4, 5) of item B, etc.
图8所示实施例与图6所示实施例的主要区别在于：图8所示实施例采取的是“动态排序”，即对所有待码放物品对所有候选码放角点的组合进行比较，通过计算效果函数选出最优组合，以确定当前码放物品与当前码放物品的码放角点；图6所示实施例采取的是“静态排序”，即先确定当前码放物品，再通过效果函数选出与之对应的最优的候选码放角点，以确定当前码放物品的码放角点。The main difference between the embodiment shown in Figure 8 and the embodiment shown in Figure 6 is that the embodiment shown in Figure 8 adopts "dynamic sorting", that is, all items to be stacked are compared to the combinations of all candidate stacking corner points, by Calculate the effect function to select the optimal combination to determine the current stacked items and the stacking corners of the current stacked items; the embodiment shown in Figure 6 adopts "static sorting", that is, first determine the current stacked items, and then use the effect function to select Corresponding to the optimal candidate stacking corner point to determine the stacking corner point of the current stacked item.
在本发明实施例中，通过以上装置能够自动生成混合码垛的垛型，降低了混合码垛对于人工经验的要求，提高了混合码垛的效率，改善了混合码垛的效果。与采用“静态排序”的码垛装置相比，采用“动态排序”能够进一步改善混合码垛的效果。In the embodiment of the present invention, the above device can automatically generate the stacking pattern of mixed palletizing, which reduces the requirement of manual experience for mixed palletizing, improves the efficiency of mixed palletizing, and improves the effect of mixed palletizing. Compared with the palletizing device using "static sorting", the use of "dynamic sorting" can further improve the effect of mixed palletizing.
图9示出了可以应用本发明实施例的码垛方法或码垛装置的示例性系统架构900。Fig. 9 shows an exemplary system architecture 900 to which the palletizing method or palletizing device according to the embodiment of the present invention can be applied.
如图9所示，系统架构900可以包括终端设备901、902、903，网络904和服务器905。网络904用以在终端设备901、902、903和服务器905之间提供通信链路的介质。网络904可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。As shown in FIG. 9 , a system architecture 900 may include terminal devices 901 , 902 , and 903 , a network 904 and a server 905 . The network 904 is used as a medium for providing communication links between the terminal devices 901 , 902 , 903 and the server 905 . Network 904 may include various connection types, such as wires, wireless communication links, or fiber optic cables, among others.
用户可以使用终端设备901、902、903通过网络904与服务器905交互，以接收或发送消息等。终端设备901、902、903上可以安装有各种通讯客户端应用，例如购物类应用、网页浏览器应用、搜索类应用、即时通信工具、邮箱客户端、社交平台软件等。Users can use terminal devices 901, 902, 903 to interact with server 905 through network 904 to receive or send messages and the like. Various communication client applications can be installed on the terminal devices 901, 902, and 903, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, and the like.
终端设备901、902、903可以是具有显示屏并且支持网页浏览的各种电子设备，包括但不限于智能手机、平板电脑、膝上型便携计算机和台式计算机等等。The terminal devices 901, 902, and 903 may be various electronic devices with display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, and the like.
服务器905可以是提供各种服务的服务器，例如对用户利用终端设备901、902、903所浏览的垛型推荐网站提供支持的后台管理服务器。后台管理服务器可以对接收到的垛型查询请求等数据进行分析等处理，并将处理结果(例如生成的码垛垛型)反馈给终端设备。The server 905 may be a server that provides various services, for example, a background management server that provides support for the stack-type recommendation websites browsed by users using the terminal devices 901 , 902 , and 903 . The background management server can analyze and process the received data such as palletizing query requests, and feed back the processing results (such as generated palletizing palletizing models) to the terminal equipment.
需要说明的是，本发明实施例所提供的码垛方法一般由服务器905执行，相应地，码垛装置一般设置于服务器905中。It should be noted that the palletizing method provided by the embodiment of the present invention is generally executed by the server 905 , and correspondingly, the palletizing device is generally set in the server 905 .
应该理解，图9中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。It should be understood that the numbers of terminal devices, networks and servers in FIG. 9 are only illustrative. According to the implementation needs, there can be any number of terminal devices, networks and servers.
图10示出了适于用来实现本发明实施例的电子设备的计算机系统1000的结构示意图。图10示出的计算机系统仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。FIG. 10 shows a schematic structural diagram of a computer system 1000 suitable for implementing the electronic device of the embodiment of the present invention. The computer system shown in FIG. 10 is only an example, and should not limit the functions and scope of use of this embodiment of the present invention.
如图10所示，计算机系统1000包括中央处理单元(CPU)1001，其可以根据存储在只读存储器(ROM)1002中的程序或者从存储部分1008加载到随机访问存储器(RAM)1003中的程序而执行各种适当的动作和处理。在RAM 1003中，还存储有系统1000操作所需的各种程序和数据。CPU 1001、ROM 1002以及RAM 1003通过总线1004彼此相连。输入/输出(I/O)接口1005也连接至总线1004。As shown in FIG. 10 , a computer system 1000 includes a central processing unit (CPU) 1001, which can operate according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage section 1008 into a random-access memory (RAM) 1003 Instead, various appropriate actions and processes are performed. In the RAM 1003, various programs and data necessary for the operation of the system 1000 are also stored. The CPU 1001 , ROM 1002 , and RAM 1003 are connected to each other via a bus 1004 . An input/output (I/O) interface 1005 is also connected to the bus 1004 .
以下部件连接至I/O接口1005：包括键盘、鼠标等的输入部分1006；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分1007；包括硬盘等的存储部分1008；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分1009。通信部分1009经由诸如因特网的网络执行通信处理。驱动器1010也根据需要连接至I/O接口1005。可拆卸介质1011，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器1010上，以便于从其上读出的计算机程序根据需要被安装入存储部分1008。The following components are connected to the I/O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 1008 including a hard disk, etc. and a communication section 1009 including a network interface card such as a LAN card, a modem, or the like. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I/O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 1010 as necessary so that a computer program read therefrom is installed into the storage section 1008 as necessary.
特别地，根据本发明公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本发明公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分1009从网络上被下载和安装，和/或从可拆卸介质1011被安装。在该计算机程序被中央处理单元(CPU)1001执行时，执行本发明的系统中限定的上述功能。In particular, according to the disclosed embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the disclosed embodiments of the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication portion 1009 and/or installed from removable media 1011 . When this computer program is executed by a central processing unit (CPU) 1001, the above-described functions defined in the system of the present invention are performed.
需要说明的是，本发明所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本发明中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本发明中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program codes are carried. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. . Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
附图中的流程图和框图，图示了按照本发明各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that includes one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block in the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a A combination of dedicated hardware and computer instructions.
描述于本发明实施例中所涉及到的模块可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的模块也可以设置在处理器中，例如，可以描述为：一种处理器包括构建模块、确定模块和生成模块。其中，这些模块的名称在某种情况下并不构成对该模块本身的限定，例如，构建模块还可以被描述为“构建当前码放物品的候选码放角点集的模块”。The modules involved in the embodiments described in the present invention may be realized by software or by hardware. The described modules may also be set in a processor, for example, it may be described as: a processor includes a building module, a determining module and a generating module. Wherein, the names of these modules do not constitute a limitation of the module itself under certain circumstances, for example, the construction module can also be described as "a module for constructing a set of candidate stacking corner points for the current stacked item".
作为另一方面，本发明还提供了一种计算机可读介质，该计算机可读介质可以是上述实施例中描述的设备中所包含的；也可以是单独存在，而未装配入该设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被一个该设备执行时，使得该设备执行以下流程：i)从所有待码放物品中选取当前码放物品，然后构建所述当前码放物品的候选码放角点集；ii)对所述候选码放角点集中的每个候选码放角点的码放效果进行评估，以根据评估结果确定所述当前码放物品的码放角点；iii)重复执行步骤i)至步骤ii)，直至得到所有物品的码放角点；iv)在得到所有物品的码放角点之后，生成码垛垛型。As another aspect, the present invention also provides a computer-readable medium. The computer-readable medium may be contained in the device described in the above embodiments, or it may exist independently without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by one device, the device executes the following process: i) Select the current stacked item from all the items to be stacked, and then construct the Describe the candidate stacking corner point set of the current stacking item; ii) evaluate the stacking effect of each candidate stacking corner point in the candidate stacking corner point set, to determine the stacking corner point of the current stacking item according to the evaluation result; iii ) Repeat step i) to step ii) until the stacking corners of all items are obtained; iv) After obtaining the stacking corners of all items, generate a palletizing pattern.
上述具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，取决于设计要求和其他因素，可以发生各种各样的修改、组合、子组合和替代。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明保护范围之内。The above specific implementation methods do not constitute a limitation to the protection scope of the present invention. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810174092.3ACN110222862B (en) | 2018-03-02 | 2018-03-02 | Palletizing method and device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810174092.3ACN110222862B (en) | 2018-03-02 | 2018-03-02 | Palletizing method and device |
| Publication Number | Publication Date |
|---|---|
| CN110222862Atrue CN110222862A (en) | 2019-09-10 |
| CN110222862B CN110222862B (en) | 2025-04-18 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810174092.3AActiveCN110222862B (en) | 2018-03-02 | 2018-03-02 | Palletizing method and device |
| Country | Link |
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| CN (1) | CN110222862B (en) |
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| CN102799725A (en)* | 2012-07-10 | 2012-11-28 | 北京航空航天大学 | Method for determining effective stacking area during off-line stacking for transfer robot |
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| CN113128118A (en)* | 2021-04-20 | 2021-07-16 | 广东工业大学 | Single-specification stacking method and stacking system based on branch-and-bound algorithm |
| CN113895728A (en)* | 2021-09-30 | 2022-01-07 | 合肥辰视机器人科技有限公司 | Greedy palletizing method and device and computer readable storage medium |
| CN114933176A (en)* | 2022-05-14 | 2022-08-23 | 江苏经贸职业技术学院 | A 3D Vision Palletizing System Using Artificial Intelligence |
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| CN119237337A (en)* | 2024-12-03 | 2025-01-03 | 中国信息通信研究院 | A method and system for sorting and mixing rectangular materials |
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