Workpiece layout scheme determination method and device, equipment and storage medium
By determining the coordinate set of workpiece types that have been placed in the material frame and planning the location of workpiece types that have not been placed in the material frame, the problem of low space utilization rate during workpiece plating in the prior art is solved, and the optimization of workpiece layout scheme and the improvement of production efficiency are achieved.
Patent Information
- Application Number
- CN202510288426.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2025-06-27
AI Technical Summary
The prior art fails to fully consider the optimization of the workpiece floor area when placing workpieces, resulting in a low utilization rate of the material frame.
By determining the coordinate set of workpiece types that have been put into the material frame, plan the location of the workpiece types that have not been put into the material frame, ensure that the remaining area of the material frame is minimized and that different workpiece types do not overlap, and the optimization of the workpiece layout plan is achieved.
The space utilization rate of the material frame is improved, the optimal layout plan for the workpiece to be placed in the material frame is realized, and the production efficiency is improved.
Smart Images
Figure CN120218327A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of position planning, and particularly to a method, device, equipment and storage medium for determining a workpiece layout scheme. Background Art
[0002] In a factory, when using a robotic arm to automatically stack workpieces, the workpieces need to be stacked in a bin. The bin needs to be transported to the next position where the workpieces are used. Given that the number of bins is limited and frequent transportation affects production efficiency, it is necessary to optimally stack all workpieces so that the floor area occupied by the workpieces in the bin is optimal.
[0003] The prior art often stacks different workpieces one by one in a bin without considering the problem of optimal floor area occupation. Summary of the Invention
[0004] The present invention provides a method, device, equipment and storage medium for determining a workpiece layout scheme to achieve the determination of the layout scheme for stacking workpieces in a bin.
[0005] In a first aspect, an embodiment of the present invention provides a method for determining a workpiece layout scheme, the method comprising:
[0006] Determine the workpiece information and bin information of each workpiece type, where the workpiece information includes the workpiece serial number, the length of the workpiece bottom surface, and the width of the workpiece bottom surface, the bin information is the length of the bin bottom surface and the width of the bin bottom surface, and the workpiece bottom surface is the contact surface between the workpiece and the load-bearing surface of the bin;
[0007] Determine the first layout information when the first workpiece type is placed in the bin; the first workpiece type is the workpiece type that has been placed in the bin; the first layout information is the coordinate set of the first workpiece type in the bin; wherein, the same workpiece type is stacked vertically in the direction perpendicular to the bin bottom surface; the coordinate is the position information of the lower left corner of the workpiece bottom surface;
[0008] According to the first layout information and the preset constraint conditions, determine the second layout information of the second workpiece type in the bin; the second workpiece type is the workpiece type that has not been placed in the bin; the second layout information is the coordinate set where the second workpiece type is to be placed in the bin; the preset constraint conditions are that the intersection of the first layout information and the second layout information is empty and the remaining area of the bin is the smallest;
[0009] According to the first layout information and the second layout information, determine the workpiece layout scheme of each workpiece type in the bin.
[0010] In a second aspect, an embodiment of the present invention further provides a device for determining a workpiece layout scheme, the device comprising:
[0011] An information determination module for determining workpiece information and bin information for each workpiece type. The workpiece information includes workpiece serial number, workpiece bottom length, and workpiece bottom width. The bin information is the bin bottom length and bin bottom width. The workpiece bottom is the contact surface between the workpiece and the load-bearing surface of the bin.
[0012] A first layout information determination module for determining the first layout information when the first workpiece type is placed in the bin. The first workpiece type is the workpiece type that has been placed in the bin. The first layout information is the coordinate set of the first workpiece type in the bin. Among them, the same workpiece types are stacked vertically in the direction perpendicular to the bin bottom in the bin. The coordinate is the position information of the lower left corner of the workpiece bottom.
[0013] A second layout information determination module for determining the second layout information of the second workpiece type in the bin according to the first layout information and preset constraint conditions. The second workpiece type is the workpiece type that has not been placed in the bin. The second layout information is the coordinate set where the second workpiece type is to be placed in the bin. The preset constraint conditions are that the intersection of the first layout information and the second layout information is empty and the remaining area of the bin is the smallest.
[0014] A layout plan determination module for determining the workpiece layout plan of each workpiece type in the bin according to the first layout information and the second layout information.
[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the method for determining the workpiece layout plan as described in any one of the embodiments of the present invention.
[0016] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to execute the method for determining the workpiece layout plan as described in any one of the embodiments of the present invention.
[0017] The technical solution of the embodiment of the present invention plans the position of the workpiece type that has not been placed in the bin in the bin through the coordinate set of the workpiece type that has been placed in the bin, determines the workpiece layout plan of each workpiece type in the bin, so as to optimize the usage area of the bin, and realizes the method for determining the layout plan of the workpieces stacked in the bin.
[0018] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings
[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.
[0020] Figure 1 is a flowchart of a method for determining a workpiece layout solution provided in Embodiment 1 of the present invention;
[0021] Figure 2 is a schematic structural diagram of a device for determining a workpiece layout solution provided in Embodiment 2 of the present invention;
[0022] Figure 3 is a schematic structural diagram of an electronic device for implementing the method for determining a workpiece layout solution in the embodiments of the present invention. Detailed Embodiments
[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.
[0025] Embodiment 1
[0026] Figure 1The following is a flowchart of a method for determining a workpiece layout scheme provided in Embodiment 1 of the present invention. This embodiment is applicable to the determination of a workpiece layout scheme. This method can be executed by a device for determining a workpiece layout scheme, which can be implemented in the form of hardware and / or software. The device for determining a workpiece layout scheme can be configured in any electronic device with network communication and computing capabilities. As Figure 1 shown, the method includes:
[0027] S110. Determine the workpiece information and bin information for each workpiece type.
[0028] In this embodiment, the workpiece information includes the workpiece serial number, the length of the workpiece bottom surface, and the width of the workpiece bottom surface, and the bin information includes the length of the bin bottom surface and the width of the bin bottom surface.
[0029] It should be noted that in the prior art, different workpieces are often stacked one by one in a bin in sequence, resulting in low utilization rate of the bin space. In order to solve the problem of low utilization rate of the bin space in this embodiment, through the technical solution of the present application, the floor area occupied by the workpieces stacked in the bin is optimized. Among them, it can be understood that the workpiece bottom surface is the contact surface between the workpiece and the load-bearing surface of the bin.
[0030] Specifically, in practical applications, the bin information, the number of workpiece types, and the workpiece information of each workpiece type can be obtained through actual measurement.
[0031] S120. Determine the first layout information when the first workpiece type is placed in the bin.
[0032] In this embodiment, the first workpiece type is the workpiece type that has been placed in the bin, and the first layout information is the coordinate set of the first workpiece type in the bin.
[0033] It should be noted that in this embodiment, the coordinates of the workpiece in the bin can be the position information of the lower left corner and the upper right corner of the workpiece bottom surface, or the position information of any point on the workpiece bottom surface. Among them, in this embodiment, the same workpiece types are stacked vertically in the bin in the direction perpendicular to the bin bottom surface. Therefore, in this embodiment, only the coordinate positions of the workpiece types in the bin are determined, and the same workpiece types are stacked according to the determined coordinate positions.
[0034] It should be noted that in this embodiment, when initially determining the layout scheme of the workpiece type, there may not be any workpiece type placed in the bin, then the first workpiece type is empty.
[0035] If there is a workpiece type placed in the bin, the first workpiece type is not empty. The position information of the first workpiece type placed in the bin can be obtained by scanning with a vision sensor or a laser sensor, etc. Specifically, the sensor covers the entire bin area, and a reference coordinate system is constructed. The bin and the first workpiece type are scanned by the sensor to obtain the contour of the first workpiece type and the position information placed in the bin. Data processing is performed based on the position information of the first workpiece type placed in the bin and the reference coordinate system to generate a coordinate set of the first workpiece type in the bin, and the first layout information when the first workpiece type is placed in the bin is obtained.
[0036] S130. Determine the second layout information of the second workpiece type in the bin according to the first layout information and the preset constraint conditions.
[0037] In this embodiment, the second workpiece type is all workpiece types not placed in the bin, and the second layout information is the coordinate set where the second workpiece type is prepared to be placed in the bin. The preset constraint conditions are that the intersection of the first layout information and the second layout information is empty and the remaining area of the bin is the smallest.
[0038] Further, in this embodiment, according to the coordinate position information of the workpiece types already placed in the bin, the remaining area in the bin that is not occupied is determined, the position of the new workpiece types to be placed subsequently is constrained, the coordinates of the new workpiece types not placed are calculated, and the second layout information of the second workpiece type is determined.
[0039] Specifically, according to the coordinates and occupied areas of the placed workpiece types, where the occupied area of each workpiece type in the bin can be calculated according to the geometric shape of the workpiece type. For example, a rectangular workpiece type can determine its boundary through its lower left corner coordinates, workpiece length, and workpiece width, and then determine its occupied area in the bin.
[0040] Further, the remaining area in the bin that is not occupied can be calculated by methods such as the grid method or geometric calculation method. Specifically, the bin is divided into smaller and uniform cells, the grids occupied by the placed workpieces are marked, and the remaining unmarked grids are the remaining area in the bin that is not occupied.
[0041] Further, according to the shape, size, and constraint conditions of the remaining area, the coordinates or positions of the new workpiece types that can be placed can be determined. Among them, the constraint conditions can be that the geometric shape of the newly placed workpiece type cannot overlap with the occupied area of the placed workpiece types, and the newly placed workpiece type must be completely within the bin boundary, etc. It should be noted that if the shape of the workpiece type is relatively special, the stability of the workpiece needs to meet the centroid constraint (such as the workpiece cannot be suspended), etc.
[0042] Further, the position of the newly placed workpiece type in the bin or the coordinates in the reference coordinate system can be determined by a heuristic algorithm such as a genetic algorithm or an optimization tool.
[0043] Further, the position of the newly placed workpiece type can also be optimized according to maximizing the space utilization rate of the bin or minimizing the gap between workpieces to obtain the second layout information of the second workpiece type. Through the above steps, the remaining area in the bin can be efficiently calculated, and a suitable coordinate position can be determined for the unplaced workpiece type, improving the space utilization rate of the bin.
[0044] As an optional but non-limiting implementation manner, according to the first layout information and preset constraint conditions, determining the second layout information of the second workpiece type in the bin includes steps A1 - A2:
[0045] Step A1: According to the first layout information and the order of the workpiece numbers, successively determine the set of candidate positions of each candidate workpiece type in the second workpiece type.
[0046] Step A2: Determine the target coordinates of the candidate workpiece type in the set of candidate positions; the target coordinates are the coordinates where the candidate workpiece type is prepared to be placed in the bin.
[0047] Step A3: According to the target coordinates of each candidate workpiece type, determine the second layout information of the second workpiece type in the bin.
[0048] In this embodiment, the set of candidate positions includes at least one candidate position coordinate, and the candidate position coordinate is the coordinate where the current candidate workpiece type is prepared to be placed in the bin. The target coordinates of the candidate workpiece type are the coordinates where the candidate workpiece type is finally placed in the bin.
[0049] Further, to determine the set of non-overlapping and bin - internal candidate positions for all placeable candidate workpiece types, the auxiliary function GenerateAllCandidatePositions(ti, current_layout, W, D) can be used to generate the set of coordinate positions where the i - th type of workpiece can be placed without overlap and within the bin.
[0050] Specifically, based on the determined bin information and workpiece information, the bin is defined as a two-dimensional rectangular area, and each possible position of the bin is traversed according to the dimensional information of the candidate workpiece type (it can be traversed at a certain step size according to the dimensions of the workpiece type or the bin grid size, such as 1 cm or 5 cm). For the position coordinates (x, y) in each set of candidate positions, the workpiece of the candidate workpiece type ti is placed at this position coordinate to generate its geometric shape. According to the constraint conditions, such as the candidate workpiece type can be placed within the bin boundary and the position coordinate does not overlap with the coordinates of the workpiece types already placed in the bin (the intersection is empty), that is, check whether the candidate workpiece type ti overlaps with any of the already placed workpiece types in the first layout information of current_layout.
[0051] If the above constraint conditions are met, this position (x, y) can be added to the set of candidate positions.
[0052] Furthermore, determine the target coordinates of the candidate workpiece type in the set of candidate positions to obtain the second layout information, so as to maximize the space utilization rate of the bin. In practical applications, this process can be understood as an optimization problem, and the goal is to make the final second layout information maximize the space utilization rate of the bin.
[0053] Specifically, the optimal solution (the target coordinates of the candidate workpiece type, the second layout information) can be found through global search and optimization strategies such as the greedy algorithm, heuristic algorithm, and mathematical programming method. For example, for each candidate position coordinate where the candidate workpiece type can be placed, calculate the remaining available area after the candidate workpiece type is placed at each candidate position coordinate, and select the position that makes the remaining available area optimal (such as the largest rectangle area is the largest) as the target coordinate of the candidate workpiece type. Next, place the candidate workpiece type at the target coordinate, and remove the occupied area of the already placed workpiece type from the available area to update the remaining available area. Finally, continuously repeat the above steps of determining the target position, placing the candidate workpiece type, and updating the remaining available area until all workpiece types are placed or no other workpiece types can be placed in the bin, then the second layout information can be determined according to the set of target coordinates where each candidate workpiece type is placed.
[0054] As an optional but non-limiting implementation manner, the process of determining the target coordinates of the candidate workpiece type in the set of candidate positions includes steps B1 - B3:
[0055] Step B1, determine the current layout information of the bin according to the first layout information and the candidate position coordinates of the candidate workpiece type; among them, the workpiece types in the current layout of the bin include the first workpiece type and the candidate workpiece type.
[0056] Step B2: Determine the first area according to the current layout information of the bin, and determine the second area according to the second workpiece type.
[0057] Step B3: Determine the target coordinates of the candidate workpiece type in the candidate position set according to the first area and the second area.
[0058] In this embodiment, the workpiece types in the current layout of the bin include the first workpiece type and the candidate workpiece type. The first area is the remaining area of the bin in the current layout of the bin, and the second area is the sum of the bottom areas of the workpiece types that have not been placed in the bin in the current layout of the bin.
[0059] In this embodiment, the process of determining the target coordinates of the candidate workpiece type in the candidate position set is a coordinate optimization process, and the goal is to maximize the space utilization rate of the bin for the workpiece layout plan formed by the target coordinates.
[0060] In this embodiment, after placing the candidate workpiece type at each candidate position coordinate, calculate the first area (the remaining area of the bin in the current layout of the bin), determine the second area (the total bottom area of the remaining unplaced workpiece types) according to the unplaced workpiece types, and compare the first area and the second area to determine the fitness of the current candidate position coordinate, that is, whether this candidate position coordinate can be used as the target coordinate of the candidate workpiece type.
[0061] Specifically, the current layout includes the newly placed candidate workpiece type. According to the first layout information and the candidate position coordinates of the candidate workpiece type, determine the current layout information of the bin. Further, the first area can be determined according to the current layout information of the bin, and the second area can be determined according to the second workpiece type. Compare the sizes of the first area and the second area to determine the target coordinates of the candidate workpiece type in the candidate position set.
[0062] It can be understood that if the first area is greater than the second area, it means that after placing the candidate workpiece type at the current candidate position coordinate, there is enough area in the bin to place the unplaced workpiece types. If the first area is less than the second area, it means that after placing the candidate workpiece type at the current candidate position coordinate, the bin cannot provide enough area to place the unplaced workpiece types.
[0063] Therefore, the target coordinates of the candidate workpiece type in the candidate position set can be determined according to the first area and the second area.
[0064] As an optional but non-limiting implementation, determining the first area according to the current layout information of the bin includes steps C1 - C2:
[0065] Step C1: Determine the workpiece usage area according to the current layout information of the bin.
[0066] Step C2: Determine the first area based on the difference between the usage area of the workpiece and the bottom area of the material frame, where the bottom area of the material frame is the product of the length and width of the bottom surface of the material frame.
[0067] In this embodiment, the usage area of the workpiece is the sum of the bottom areas of each workpiece type under the current layout information of the material frame. If the shape of the workpiece type is rectangular, the bottom area of each workpiece type is the product of the length and width of the bottom surface of the workpiece. If the shape of the workpiece type is triangular, the bottom area of the workpiece type is half of the product of the length and height of the bottom surface of the workpiece. It should be noted that the bottom area of the workpiece type can be determined according to the area calculation formula of different shaped polygons.
[0068] Specifically, after placing the candidate workpiece types at each candidate position coordinate, calculate the first area (the remaining area of the material frame under the current layout information of the material frame). First, determine the usage area of the workpiece according to the current layout information of the material frame. Further, based on the difference between the usage area of the workpiece and the bottom area of the material frame, the remaining area of the material frame under the current layout can be determined.
[0069] As an optional but non-limiting implementation, determining the target coordinates of the candidate workpiece type in the candidate position set according to the first area and the second area includes steps D1 - D3:
[0070] Step D1: Determine the third area according to the first area and the second area, where the third area is the minimum value of the first area and the second area; the third area represents the maximum filling area of the remaining unplaced workpiece types under the current layout information of the material frame.
[0071] Step D2: Determine the fourth area based on the difference between the bottom area of the material frame and the third area.
[0072] Step D3: If the fourth area is less than the preset area threshold, determine the candidate position coordinates under the current layout information as the target coordinates.
[0073] In this embodiment, the third area represents the maximum filling area of the remaining unplaced workpiece types under the current layout information of the material frame.
[0074] Specifically, in the process of determining the target coordinates of the candidate workpiece type in the candidate position set, the third area can also be determined according to the first area and the second area. The third area can be understood as the maximum filling area of the remaining unfilled workpiece types under the current layout information of the material frame. The optimization objective in this embodiment is to maximize the space utilization rate of the material frame for the workpiece layout scheme formed by the target coordinates. Therefore, the third area can be the minimum value of the first area and the second area. Further, the fourth area is determined according to the difference between the bottom area of the material frame and the third area. If the fourth area is less than the preset area threshold, the candidate position coordinates under the current layout information are determined as the target coordinates.
[0075] It should be noted that if the fourth area is less than the preset area threshold, it means that the remaining area of the material frame is less than the maximum filling area of the remaining unfilled workpiece types under the current layout information, and the candidate position coordinates under the current layout information can be used as the target coordinates of the candidate workpiece type.
[0076] As an optional but non-limiting implementation manner, after determining the target coordinates of the candidate workpiece type in the candidate position set, it further includes:
[0077] Placing the candidate workpiece type in the material frame according to the target coordinates, and re-determining the current layout information of the material frame.
[0078] In this embodiment, after determining the target coordinates of the candidate workpiece type, after positioning the position of the candidate workpiece type, the candidate workpiece type can be placed in the material frame according to the target coordinates, and then the current layout information of the material frame and the remaining area of the material frame for the workpiece types already placed in the material frame can be re-determined.
[0079] As an optional but non-limiting implementation manner, determining the target coordinates of the candidate workpiece type in the candidate position set further includes:
[0080] Repeating the process of determining the target coordinates of the candidate workpiece type in the candidate position set in the order of the workpiece numbers, and sequentially obtaining the target coordinates of each candidate workpiece type in the material frame.
[0081] In this embodiment, it should be noted that whenever the optimal target coordinate position of a candidate workpiece type is determined, it means that the positions of the workpiece types already placed before the workpiece number of this candidate workpiece type in the material frame are the optimal positions and do not need to be changed. Only the positions of the workpiece types after this workpiece number need to be determined, and the target coordinates of each candidate workpiece type in the material frame are sequentially obtained.
[0082] S140. Determine the workpiece layout scheme of each workpiece type in the material frame according to the first layout information and the second layout information.
[0083] In this embodiment, it can be understood that the first layout information is updated sequentially according to the target coordinate positions of the workpiece types. If the target coordinates of all workpiece types can be determined in the bin to achieve the optimal target of the bin space utilization rate, the second layout information includes the layout plan of the workpiece types that have not been placed in the bin yet. The workpiece layout plan of each workpiece type in the bin can be determined according to the first layout information and the second layout information. If there is no remaining fillable area in the bin for the remaining unplaced workpiece types, it means that the second layout information does not include the layout plans of all the remaining unplaced workpiece types. Further, the workpiece layout plan of each workpiece type in the bin is determined according to the first layout information and the second layout information.
[0084] Specifically, the determination process of the workpiece layout plan in this embodiment can be implemented through the following pseudocode.
[0085]
[0086]
[0087]
[0088] Among them, the key auxiliary functions in this pseudocode include:
[0089] GenerateAllCandidatePositions(ti, current_layout, W, D): Generate a set of non-overlapping and in-bin coordinate positions where the i-th type of workpiece can be placed according to the current layout.
[0090] CalculateUsedArea(layout): Calculate the total bottom area currently used according to all the workpiece types that have been placed (note that different types occupy independent areas, and the same type is only counted once for the bottom area).
[0091] EstimateBestPossibleFilling(new_layout, remaining_types, W, D): Estimate an upper limit filling rate for the remaining unplaced workpiece types (for example, simply sum the areas of the remaining workpieces and compare with the remaining available space), so as to provide pruning judgment for branch and bound.
[0092] In the above code, the number of workpiece types and the information of each workpiece type are first determined, including the workpiece serial number, workpiece width, and workpiece length. The bottom width and depth of the storage frame are determined, and two parameters are defined to record the corresponding global workpiece layout plan of the current optimal solution and the remaining space area corresponding to the global workpiece layout plan of the current optimal solution (initially ∞). Further, by calculating the current used area, the current used area is compared with the remaining space area. If the best potential utilization rate of this branch is not higher than the current optimal solution, pruning is performed to determine the target coordinates of each workpiece type. Further, it is determined whether all workpiece types have been placed. If all workpiece types have been placed, the layout so far (storing the stacking coordinates and occupied areas of each part) is output as the global workpiece layout plan of the optimal solution.
[0093] The algorithm for determining the workpiece layout plan systematically tries all possible workpiece layout plans in the storage frame and reduces the calculation amount through pruning to find the optimal workpiece layout plan, enabling the same workpiece types to be vertically stacked concentratedly with the optimal floor area and improving the utilization rate of the storage frame space.
[0094] The technical solution of the embodiment of the present invention plans the positions of the workpiece types not yet placed in the storage frame through the coordinate set of the workpiece types already placed in the storage frame in the storage frame, determines the workpiece layout plan of each workpiece type in the storage frame, so as to optimize the used area of the storage frame, and realizes the method for determining the layout plan of the workpieces stacked in the storage frame.
[0095] Embodiment 2
[0096] Figure 2 It is a schematic structural diagram of a device for determining a workpiece layout plan provided in Embodiment 2 of the present invention. This embodiment is applicable to the situation of determining the workpiece layout plan. The device for determining the workpiece layout plan can be implemented in the form of hardware and / or software, and the device for determining the workpiece layout plan can be configured in any electronic device with network communication and computing capabilities. As Figure 2 shown, the device includes:
[0097] An information determination module 310, configured to determine the workpiece information and storage frame information of each workpiece type. The workpiece information includes the workpiece serial number, the bottom length of the workpiece, and the bottom width of the workpiece. The storage frame information is the bottom length of the storage frame and the bottom width of the storage frame. The bottom surface of the workpiece is the contact surface between the workpiece and the load-bearing surface of the storage frame;
[0098] A first layout information determination module 320, configured to determine the first layout information when the first workpiece type is placed in the storage frame; the first workpiece type is the workpiece type already placed in the storage frame; the first layout information is the coordinate set of the first workpiece type in the storage frame; wherein, the same workpiece types are stacked vertically in the direction perpendicular to the bottom surface of the storage frame; the coordinate is the position information of the lower left corner of the bottom surface of the workpiece.
[0099] The second layout information determination module 330 is configured to determine the second layout information of the second workpiece type in the bin according to the first layout information and preset constraint conditions; the second workpiece type is the workpiece type not placed in the bin; the second layout information is the coordinate set where the second workpiece type is to be placed in the bin; the preset constraint conditions are that the intersection of the first layout information and the second layout information is empty and the remaining area of the bin is the smallest.
[0100] The layout plan determination module 340 is configured to determine the workpiece layout plan of each workpiece type in the bin according to the first layout information and the second layout information.
[0101] Optionally, determining the second layout information of the second workpiece type in the bin according to the first layout information and preset constraint conditions includes:
[0102] Sequentially determining the candidate position sets of each candidate workpiece type in the second workpiece type according to the first layout information and the order of workpiece numbers; the candidate position set includes at least one candidate position coordinate; the candidate position coordinate is the coordinate where the candidate workpiece type is to be placed in the bin.
[0103] Determining the target coordinate of the candidate workpiece type in the candidate position set; the target coordinate is the coordinate where the candidate workpiece type is to be placed in the bin.
[0104] Determining the second layout information of the second workpiece type in the bin according to the target coordinates of each candidate workpiece type.
[0105] Optionally, the process of determining the target coordinate of the candidate workpiece type in the candidate position set includes:
[0106] Determining the current layout information of the bin according to the first layout information and the candidate position coordinates of the candidate workpiece type; wherein, the workpiece types in the current layout of the bin include the first workpiece type and the candidate workpiece type.
[0107] Determining the first area according to the current layout information of the bin, and determining the second area according to the second workpiece type; the first area is the remaining area of the bin in the current layout of the bin, and the second area is the sum of the bottom areas of the remaining workpiece types not placed in the bin in the current layout of the bin.
[0108] Determining the target coordinate of the candidate workpiece type in the candidate position set according to the first area and the second area.
[0109] Optionally, determining the first area according to the current layout information of the bin includes:
[0110] Determine the workpiece usage area according to the current layout information of the bin; the workpiece usage area is the sum of the bottom areas of each workpiece type under the current layout information of the bin, and the bottom area of the workpiece type is the product of the length of the workpiece bottom and the width of the workpiece bottom;
[0111] Determine the first area according to the difference between the workpiece usage area and the bottom area of the bin, where the bottom area of the bin is the product of the length of the bin bottom and the width of the bin bottom.
[0112] Optionally, determining the target coordinates of the candidate workpiece type in the candidate position set according to the first area and the second area includes:
[0113] Determine the third area according to the first area and the second area, where the third area is the minimum value of the first area and the second area; the third area represents the maximum filling area of the remaining unfilled workpiece types under the current layout information of the bin;
[0114] Determine the fourth area according to the difference between the bottom area of the bin and the third area;
[0115] If the fourth area is less than the preset area threshold, determine the candidate position coordinates under the current layout information as the target coordinates.
[0116] Optionally, after determining the target coordinates of the candidate workpiece type in the candidate position set, it further includes:
[0117] Place the candidate workpiece type in the bin according to the target coordinates, and re-determine the current layout information of the bin.
[0118] Optionally, determining the target coordinates of the candidate workpiece type in the candidate position set further includes:
[0119] Repeat the process of determining the target coordinates of the candidate workpiece type in the candidate position set in the order of the workpiece numbers, and sequentially obtain the target coordinates of each candidate workpiece type in the bin.
[0120] The technical solution of the embodiment of the present invention plans the positions of the workpiece types not yet placed in the bin through the coordinate set of the workpiece types already placed in the bin, determines the workpiece layout plan of each workpiece type in the bin, so as to optimize the usage area of the bin, and realizes the determination method of the layout plan for stacking workpieces in the bin.
[0121] The device for determining the workpiece layout plan provided by the embodiment of the present invention can execute the method for determining the workpiece layout plan provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.
[0122] Embodiment III
[0123] Figure 3The structural schematic diagram of an electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.
[0124] As Figure 3 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.
[0125] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.
[0126] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for determining the workpiece layout scheme.
[0127] In some embodiments, the method for determining the workpiece layout scheme can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for determining the workpiece layout scheme described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for determining the workpiece layout scheme by any other suitable means (e.g., by means of firmware).
[0128] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.
[0129] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.
[0130] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
[0131] To provide for interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).
[0132] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.
[0133] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.
[0134] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.
[0135] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
Claims
1. A method for determining a workpiece layout scheme, characterized in that: include: Determine workpiece information and material frame information of each workpiece type, wherein the workpiece information includes a workpiece serial number, a workpiece bottom surface length, and a workpiece bottom surface width, and the material frame information includes a material frame bottom surface length and a material frame bottom surface width, and the workpiece bottom surface is a contact surface between the workpiece and the material frame load-bearing surface; Determine first layout information when a first workpiece type is placed in a material frame; the first workpiece type is a workpiece type that has been placed in the material frame; the first layout information is a coordinate set of the first workpiece type in the material frame; wherein the same workpiece type is stacked in the material frame in a direction perpendicular to the bottom surface of the material frame; the coordinate is the position information of the lower left corner of the bottom surface of the workpiece; Determine second layout information of a second workpiece type in the material frame according to the first layout information and preset constraints; the second workpiece type is a workpiece type not placed in the material frame; the second layout information is a coordinate set of the second workpiece type to be placed in the material frame; the preset constraints are that the intersection of the first layout information and the second layout information is empty and the remaining area of the material frame is the smallest; A workpiece layout scheme for each workpiece type in the material frame is determined according to the first layout information and the second layout information, wherein the workpiece layout scheme includes placement of each workpiece type in the material frame.
2. The method according to claim 1, characterized in that: Determining second layout information of a second workpiece type in a material frame according to the first layout information and preset constraints includes: Determine, in sequence, a candidate position set of each candidate workpiece type in the second workpiece type according to the first layout information and the order of the workpiece serial number; the candidate position set includes at least one candidate position coordinate; the candidate position coordinate is a coordinate of the candidate workpiece type to be placed in the material frame; Determine the target coordinates of the candidate workpiece type in the candidate position set; the target coordinates are the coordinates of the candidate workpiece type to be placed in the material frame; According to the target coordinates of each candidate workpiece type, second layout information of the second workpiece type in the material frame is determined.
3. The method according to claim 2, characterized in that The process of determining the target coordinates of the candidate workpiece type in the candidate position set includes: Determine the current layout information of the material frame according to the first layout information and the candidate position coordinates of the candidate workpiece type; wherein the workpiece types in the current layout of the material frame include the first workpiece type and the candidate workpiece type; Determine a first area according to the current layout information of the material frame, and determine a second area according to the second workpiece type; the first area is the remaining area of the material frame under the current layout of the material frame, and the second area is the sum of the bottom areas of the workpiece types remaining but not placed in the material frame under the current layout of the material frame; The target coordinates of the candidate workpiece type in the candidate position set are determined according to the first area and the second area.
4. The method according to claim 3, characterized in that Determining a first area according to current layout information of the material frame includes: Determine the workpiece use area according to the current layout information of the material frame; the workpiece use area is the sum of the bottom areas of each workpiece type under the current layout information of the material frame, and the bottom area of each workpiece type is the product of the length of the bottom surface of the workpiece and the width of the bottom surface of the workpiece; The first area is determined according to the difference between the workpiece use area and the material frame bottom area, where the material frame bottom area is the product of the material frame bottom surface length and the material frame bottom surface width.
5. The method according to claim 3, characterized in that: Determining target coordinates of the candidate workpiece type in the candidate position set according to the first area and the second area includes: Determine a third area according to the first area and the second area, wherein the third area is the minimum value of the first area and the second area; the third area represents the maximum filling area of the remaining unplaced workpiece type under the current layout information of the material frame; Determine the fourth area according to the difference between the bottom area of the material frame and the third area; If the fourth area is smaller than the preset area threshold, the candidate position coordinates under the current layout information are determined as the target coordinates.
6. The method according to claim 2, characterized in that After determining the target coordinates of the candidate workpiece type in the candidate position set, it also includes: The candidate workpiece type is placed in the material frame according to the target coordinates, and the current layout information of the material frame is re-determined.
7. The method according to claim 2, characterized in that: Determining target coordinates of the candidate workpiece type in the candidate position set also includes: The process of determining the target coordinates of the candidate workpiece types in the candidate position set is repeated in the order of the workpiece serial numbers to obtain the target coordinates of each candidate workpiece type in the material frame in turn.
8. A device for determining a workpiece layout scheme, characterized in that: include: An information determination module, used to determine workpiece information and material frame information of each workpiece type, wherein the workpiece information includes a workpiece serial number, a workpiece bottom surface length, and a workpiece bottom surface width, and the material frame information includes a material frame bottom surface length and a material frame bottom surface width, and the workpiece bottom surface is a contact surface between the workpiece and the material frame load-bearing surface; A first layout information determination module, used to determine first layout information when a first workpiece type is placed in a material frame; the first workpiece type is a workpiece type that has been placed in the material frame; The first layout information is a set of coordinates of the first workpiece type in the material frame; wherein the same workpiece type is stacked in the material frame in a direction perpendicular to the bottom surface of the material frame; and the coordinates are position information of the lower left corner of the bottom surface of the workpiece; A second layout information determination module is used to determine second layout information of a second workpiece type in the material frame according to the first layout information, until all workpiece types are placed in the material frame boundary and the intersection of the first layout information and the second layout information is empty; the second workpiece type is all workpiece types that are not placed in the material frame; the second layout information is a coordinate set of the second workpiece type to be placed in the material frame; The layout scheme determining module is used to determine the workpiece layout scheme of each workpiece type in the material frame according to the first layout information and the second layout information.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method for determining a workpiece layout solution as described in any one of claims 1-7 is implemented.
10. A storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform the method for determining a workpiece layout solution as claimed in any one of claims 1 to 7.