Tray space planning method, palletizing method and apparatus thereof, and electronic device
Provided are a tray space planning method and a palletizing method thereof. The space planning method of the present disclosure can increase a utilization rate of the tray space when a size of a filling material for filing the tray matches a size of the tray by a non-integer multiple. The palletizing method based on the related space planning method, in addition to improving a utilization rate of the tray, can avoid a collision between the current filling material and other filling materials, while ensuring that the filling material approaches in a shortest path based on palletizing at a highest space utilization rate.
1. A tray space planning method for performing a simulation planning based on modeling of tray space, the method comprising:
step S 1 : performing, based on segmentation lines of various shapes, iterative segmentations on a model image of the tray space in multiple cycles, wherein:
any one segmentation line of the segmentation lines of various shapes matches a filling surface edge of a filling material for filling the tray space, and comprises at least one turning angle matching the filling surface edge;
in a single cycle: a first segmentation is performed on the model image of the tray space by using one of the segmentation lines of various shapes as a basis for an initial segmentation of the iterative segmentations; and the remaining segmentations are performed based on an image of an immediately previous segmentation result by using the segmentation line of any shape; in a certain iteration, when a certain space region of the immediately previous segmentation result is smaller than a filling surface of the filling material, the iterative segmentation for the immediately previous segmentation result stops; and until all the iterative segmentations stop, the single cycle ends; and
in different cycles, segmentation line sequences are different, and segmentation positions of the respective segmentation lines are different, wherein the segmentation lines referenced by the iterative segmentations in the single cycle follow a corresponding segmentation line sequence, to perform segmentation at a certain position in a space region of a corresponding segmentation result;
step S 2 : selecting, based on the number of segmentation results corresponding to each cycle at the end of the cycle, a maximum number value; and
step S 3 : determining, based on the maximum number value, a corresponding cycle process as an optimal plan; and
step S 4 : palletizing, by a robot palletizer based on segmentation regions of the segmented tray space indicated by the optimal plan, the filling material into the segmentation regions.
2. The method according to claim 1 , wherein in the single cycle of step S 1 , said performing the remaining segmentations based on the image of the immediately previous segmentation result by using the segmentation line of any shape comprises:
segmenting, based on any segmentation position of the segmentation line of any shape in a space region corresponding to the image of the immediately previous segmentation result, the model image of the tray space.
3. The method according to claim 2 , further comprising, in the single cycle of step S 1 :
for a segmentation line and a segmentation position, on which any one of the iterative segmentations is based, recording an average number of in-cycle segmentation results per segmentation, the average number of in-cycle segmentation results per segmentation being generated by all segmentations prior to the one iteration segmentation based on the segmentation line and the segmentation position thereof;
wherein said segmenting, based on any segmentation position of the segmentation line of any shape in the space region corresponding to the image of the immediately previous segmentation result, the model image of the tray space comprises:
segmenting, based on the segmentation line and the segmentation position of the segmentation line that correspond to a maximum value of the average number of in-cycle segmentation results per segmentation, the space region corresponding to the image of the immediately previous segmentation result.
4. The method according to claim 3 , further comprising, subsequent to step S 3 :
embedding a filling surface image of the filling surface into each space region corresponding to an optimal planning result; and
performing translation in the tray space in a predetermined direction to be compact to obtain a minimum region.
5. The method according to claim 4 , further comprising:
in the minimum region, moving each compacted filling surface image to a minimum region edge; and/or
performing rotation operation or mirror image operation on a result obtained after moving towards the minimum region edge.
6. The method according to claim 1 , further comprising:
determining, based on the maximum number value, whether a target planning result, matching the filling surface, of the same number of space regions exists in a predetermined watts-shaped plan or a predetermined windmill-shaped plan, and whether an overall region size of the target planning result is not greater than an overall region size of an optimal planning result, wherein the number of space regions of the windmill-shaped plan is an integer multiple of four; and
when the target planning result, matching the filling surface, of the same number of space regions exists in the predetermined matts-shaped plan or the predetermined windmill-shaped plan, and when the overall region size of the target planning result is not greater than the overall region size of the optimal planning result, updating, based on a planning manner corresponding to the target planning result in the predetermined matts-shaped plan or the predetermined windmill-shaped plan, an optimal plan.