Method and system for automatically placing an object into a container
A method for automatically placing a to-be-packed object into a container that defines an accommodation space is provided. A processing unit obtains an object dimension data piece that indicates dimensions of the to-be-packed object, and obtains, through a camera unit that captures images of the to-be-packed object and the accommodation space, an unoccupied area related to the accommodation space. Based on the object dimension data piece and the unoccupied area, the processing unit determines whether the container is capable of accommodating the to-be-packed object.
1 . A method for automatically placing a to-be-packed object into a container that defines an accommodation space, comprising steps of:
by a processing unit, obtaining an object dimension data piece that is related to dimensions of the to-be-packed object, and controlling a camera unit to capture an image of the accommodation space to obtain a space three-dimensional (3D) point cloud;
by the processing unit, obtaining an unoccupied area related to the accommodation space based on the space 3D point cloud;
by the processing unit, determining, based on the object dimension data piece and the unoccupied area, whether a first accommodation condition that corresponds to the to-be-packed object is satisfied; and
by the processing unit, upon determining that the first accommodation condition is satisfied, controlling a holding unit to place the to-be-packed object into the accommodation space at a position that corresponds to the unoccupied area,
wherein the step of obtaining the unoccupied area includes:
generating a first cross-section status data piece based on the space 3D point cloud, the first cross-section status data piece corresponding to a first cross section of the accommodation space that is parallel to a bottom surface of the container, and being indicative of an unoccupied area of the first cross section,
wherein the step of determining whether the first accommodation condition is satisfied includes:
determining whether the first cross section satisfies the first accommodation condition based on the object dimension data piece and the unoccupied area of the first cross section as indicated by the first cross-section status data piece,
wherein, upon determining that the first cross section satisfies the first accommodation condition, the processing unit controls the holding unit to place the to-be-packed object into the accommodation space at a position that corresponds to the unoccupied area of the first cross section,
wherein the step of obtaining an object dimension data piece includes:
controlling the camera unit to capture an image of the to-be-packed object, so as to obtain an object 3D point cloud; and
generating the object dimension data piece based on the object 3D point cloud,
wherein the image of the to-be-packed object is captured by the camera unit from below the to-be-packed object, and the image of the accommodation space is captured by the camera unit from above the container, and
wherein the camera unit includes a first depth camera disposed to face upwardly, and a second depth camera disposed to face downwardly, and the step of obtaining an object dimension data piece and controlling a camera unit to capture an image of the accommodation space includes:
controlling the first depth camera to capture the image of the to-be-packed object to obtain the object 3D point cloud; and
controlling the second depth camera to capture the image of the accommodation space to obtain the space 3D point cloud,
said method further comprising, before the step of obtaining an object dimension data piece, a step of:
by the processing unit, controlling the holding unit to move the to-be-packed object to a position above the first depth camera for the first depth camera to capture the image of the to-be-packed object.
2 . The method of claim 1 , wherein the step of determining whether the first accommodation condition is satisfied includes:
scanning the unoccupied area of the first cross section in a specific direction to determine whether a scanned portion of the unoccupied area of the first cross section satisfies the first accommodation condition.
3 . The method of claim 1 , wherein the space 3D point cloud is indicative of the container, the accommodation space, and an existing object that is already placed in the accommodation space, and the step of generating a first cross-section status data piece includes:
generating, based on the space 3D point cloud, a space occupation data piece that corresponds to the existing object and that indicates an occupied part of the accommodation space, which corresponds in position to a position of the existing object in the accommodation space; and
generating the first cross-section status data piece based on the space occupation data piece.
4 . The method of claim 3 , wherein the occupied part of the accommodation space is a space of a cuboid that has a length greater than or equal to a lengthwise extent of the existing object, a width greater than or equal to a widthwise extent of the existing object, and a height greater than or equal to a heightwise extent of the existing object.
5 . The method of claim 1 , wherein the object dimension data piece includes a target length and a target width that correspond to the to-be-packed object, and the first accommodation condition includes that the unoccupied area of the first cross section has a region of which a length is greater than or equal to the target length, and of which a width is greater than or equal to the target width.
6 . The method of claim 5 , wherein the object dimension data piece further includes a target height that corresponds to the to-be-packed object, and the first accommodation condition further includes that a distance between the first cross section and a top of the container is greater than or equal to the target height.
7 . The method of claim 6 , wherein the step of obtaining an object dimension data piece includes:
determining the target length and the target width based on the image of the to-be-packed object; and
obtaining the target height from an object database based on a length and a width of the to-be-packed object presented by the image of the to-be-packed object.
8 . The method of claim 1 , further comprising steps of:
by the processing unit, upon determining that the first cross section does not satisfy the first accommodation condition, generating a second cross-section status data piece based on the space 3D point cloud, the second cross-section status data piece corresponding to a second cross section of the accommodation space that is parallel to and disposed above the first cross section, and being indicative of an unoccupied area of the second cross section;
by the processing unit, determining whether the second cross section satisfies a second accommodation condition that corresponds to the to-be-packed object based on the object dimension data piece and the unoccupied area of the second cross section as indicated by the second cross-section status data piece; and
by the processing unit, upon determining that the second cross section satisfies the second accommodation condition, controlling the holding unit to place the to-be-packed object into the accommodation space at a position corresponding to the unoccupied area of the second cross section.
9 . The method of claim 1 , wherein the step of determining whether the first accommodation condition is satisfied includes:
determining whether the unoccupied area includes a corner of the container that satisfies the first accommodation condition.
10 . The method of claim 1 , wherein the step of determining whether the first accommodation condition is satisfied includes:
determining whether the unoccupied area includes a fragmental space that is disposed among multiple existing objects in the container, and that satisfies the first accommodation condition.
11 . The method of claim 10 , wherein the step of determining whether the first accommodation condition is satisfied further includes:
when the unoccupied area includes a plurality of the fragmental spaces each satisfying the first accommodation condition, selecting a smallest one of the fragmental spaces for placement of the to-be-packet object.
12 . A system for automatically placing a to-be-packed object into a container that defines an accommodation space, said system comprising a camera unit, a holding unit, and a processing unit that is electrically connected to said camera unit and said holding unit, and that is configured to perform the method of claim 1 .