TWI776735B - Detection system for objects stacking on pallet and method thereof - Google Patents

Abstract

A detection system for objects stacking on pallet is disclosed in the present invention. The detection system includes a processing module, a controlling module, an image capturing module, a detection module, and an alert module. The processing module and the controlling module are utilized to control a stacking device to stack a plurality of objects on a pallet. The image capturing module is utilized to capture an image when the stacking device finishes stacking a layer of the objects. The detection module and the alert module are utilized to detect the image and generate an alert signal when the objects are out of order. A detection method is also disclosed in the present invention.

Description

Pallet stacking state detection system and method

The present invention relates to a system and a method thereof, in particular to a pallet stacking state detection system and a method thereof.

In the process of warehousing, manufacturing, and logistics, the method of stacking and placing objects on the pallet and calculation of the prior art mostly rely on manual planning, calculation and handling in advance. Calculation and handling will lead to waste of human resources and increase of labor costs in the long run. Under the wave of global automation, there is an urgent need for the automation of related processes such as warehousing, manufacturing, and logistics. Therefore, in recent years, stacking devices have gradually been used in stacking operations instead of manual handling, such as robotic arms.

In the process of stacking, it is necessary to stack up layer by layer. If the stacking position of the objects is wrong, it will affect the overall structural strength, and may even collapse and cause safety problems. However, the prior art uses a stacking device for stacking. , there is no real-time detection mechanism for security. Therefore, there is room for improvement in the prior art.

In view of the waste of human resources, the increase of labor costs and the various problems derived from labor planning, calculation and handling in the prior art, as well as the pendulum caused by the use of stacking devices but the real-time detection mechanism without security. Wrong placement, insufficient structural strength, collapse of objects and all kinds of problems that arise from them. One of the main objectives of the present invention is to provide a pallet stacking state detection system to solve at least one problem in the prior art.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide a pallet stacking state detection system, which is used to control a stacking device to arrange a plurality of identical objects on a pallet on an arrangement plane. An object layer is formed, so that K object layers are stacked on the K arrangement planes, and includes a processing module, a control module, an image capture module, a detection module and an alarm module. The processing module receives a pallet length and a pallet width of the pallet and receives an object length and an object width of each object, and uses a built-in rule to calculate the Q number of the above objects in each odd-numbered object layer at least one first predetermined arrangement correlation parameter, and at least one second predetermined arrangement correlation parameter of the R above-mentioned objects in each even-numbered object layer is calculated. The control module is electrically connected to the processing module, and is used for generating a first control signal according to the first predetermined arrangement associated parameter before stacking each odd-numbered object layer, and used for generating a first control signal before stacking each even-numbered object layer. A second control signal is generated according to the second predetermined arrangement-related parameter, so as to control the stacking device to stack the objects. The image capture module is electrically connected to the control module for capturing an odd-numbered image when each odd-numbered object layer is stacked and arranged, and captures an even-numbered layer when each even-numbered object layer is stacked and arranged image. The detection module is electrically connected to the processing module and the image capture module, and is used for parsing the odd-numbered layer images to obtain at least one first current arrangement associated parameter, and analyzing the even-numbered layer images to obtain at least one second current arrangement associated parameter. When it is determined that the relevant parameters of the first current arrangement are inconsistent with the relevant parameters of the first predetermined arrangement, a first abnormal signal is generated; when it is compared that the relevant parameters of the second current arrangement are inconsistent with the relevant parameters of the second predetermined arrangement, a second abnormality is generated. Signal. The alarm module is electrically connected to the detection module, and is used for sending out an alarm signal when the first abnormal signal or the second abnormal signal is received.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide a pallet stacking state detection system, which is applied to a stacking device. The stacking device is used for arranging a plurality of identical objects on a pallet. An object layer is formed on the plane, so that K above-mentioned object layers are stacked on the K above-mentioned arrangement planes, and the stacking device calculates the Q above-mentioned objects according to a built-in rule in at least one of each odd-numbered object layer. A predetermined arrangement correlation parameter, and at least a second predetermined arrangement correlation parameter of the R objects in each even-numbered object layer to stack the objects. The pallet stacking state detection system includes an image capture module, a detection module and an alarm module. The image capture module is used for capturing an odd-numbered image when each odd-numbered object layer is stacked and arranged, and captures an even-numbered image when each even-numbered object layer is stacked and arranged. The detection module is electrically connected to the processing module and the image capture module, and is used for parsing the odd-numbered layer images to obtain at least one first current arrangement associated parameter, and analyzing the even-numbered layer images to obtain at least one second current arrangement associated parameter. When it is determined that the relevant parameters of the first current arrangement are inconsistent with the relevant parameters of the first predetermined arrangement, a first abnormal signal is generated; when it is compared that the relevant parameters of the second current arrangement are inconsistent with the relevant parameters of the second predetermined arrangement, a second abnormality is generated. Signal. The alarm module is electrically connected to the detection module, and is used for sending out an alarm signal when the first abnormal signal or the second abnormal signal is received. Wherein, the first predetermined arrangement correlation parameter includes a first predetermined arrangement position combination, and the second predetermined arrangement correlation parameter includes a second predetermined arrangement position combination.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide a pallet stacking state detection method, which is implemented by using the pallet stacking state detection system as described above, and includes the following steps: using a processing module to receive the stack Board length, pallet width, object length and object width, and calculate the first predetermined arrangement associated parameter and the second predetermined arrangement associated parameter; use the control module to generate the first predetermined arrangement associated parameter and the second predetermined arrangement associated parameter respectively The first control signal and the second control signal are used to respectively control the stacking device to stack objects; the image capturing module is used to capture the odd-numbered layer images and the even-numbered layer images respectively; the detection module is used to analyze the odd-numbered layer images and the even-numbered layer images respectively. The first current arrangement correlation parameter and the second current arrangement correlation parameter, and when the first current arrangement correlation parameter does not match the first predetermined arrangement correlation parameter, a first abnormal signal is generated, and the second current arrangement correlation parameter is compared. When the parameters do not match the parameters associated with the second predetermined arrangement, a second abnormal signal is generated; when the first abnormal signal or the second abnormal signal is received by the alarm module, an alarm signal is issued.

As mentioned above, the present invention utilizes the processing module, the control module, the image capture module, the detection module and the alarm module to control the stacking device to stack the objects on the pallet. Compared with the prior art, the present invention utilizes the processing module to calculate the associated parameters of the first predetermined arrangement and the associated parameters of the second predetermined arrangement, which can save manpower planning and calculation, and can also quickly calculate the first predetermined arrangement when changing objects. The associated parameters are associated with the second predetermined arrangement; the image capture module, the detection module and the alarm module can capture images and compare them in real time when the stacking of each layer of objects is completed. An alarm signal is generated on the ground, so as to avoid the problem of structural strength reduction caused by the object being placed incorrectly and continuing to stack up, and the resulting collapse, object damage and safety problems.

The specific embodiments of the present invention will be described in more detail below with reference to the schematic diagrams. The advantages and features of the present invention will become more apparent from the following description and the scope of the claims. It should be noted that the drawings are all in a very simplified form and use inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention.

Please refer to Figures 1 to 3B, wherein, Figure 1 shows a block diagram of the pallet stacking state detection system provided by the first embodiment of the present invention; Figure 2 shows the system provided by the first embodiment of the present invention. The schematic diagram of the use environment of the pallet stacking state detection system; and the third A and the third B are the flowcharts showing the pallet stacking state detection method provided by the first embodiment of the present invention. As shown in the figure, a pallet stacking state detection system 1 is used to control a stacking device 2 to place and stack a plurality of identical objects O1 and O2 (the two are shown in the second figure) on a pallet P, and include A processing module 11, a control module 12, an image capture module 13, a detection module 14, an alarm module 15 and an input module 16, wherein the objects O1 and O2 are conveyed by a conveying device T delivery.

In more detail, the pallet stacking state detection system 1 will control the stacking device 2 to arrange a plurality of identical objects O1 and O2 on the pallet P on an arrangement plane to form an object layer, so as to form an object layer on the K above-mentioned arrangement planes. K above-mentioned object layers are stacked on top.

A pallet stacking state detection method is implemented by using a pallet stacking state detection system 1, and includes the following steps S101 to S113.

Step S101 : using the processing module to receive the pallet length and pallet width of the pallet and the object length and object width of the object.

Step S102 : using the processing module to calculate the first predetermined arrangement associated parameter and the second predetermined arrangement associated parameter according to the built-in rule.

The processing module 11 receives a pallet length PL and a pallet width PW of the pallet P, and receives an object length OL and an object width OW of the objects O1 and O2, and calculates Q according to a built-in rule. At least one first predetermined arrangement correlation parameter of the objects in each odd-numbered object layer is calculated, and at least one second predetermined arrangement correlation parameter of the R objects in each even-numbered object layer is calculated. Wherein, the first predetermined arrangement correlation parameter includes at least a first predetermined arrangement position combination, and the second predetermined arrangement correlation parameter includes at least a second predetermined arrangement position combination, that is, the arrangement position of the objects. The input module 16 can allow a user to input the pallet length PL, the pallet width PW, the object length OL and the object width OW.

For example, the pallet stacking state detection system 1 controls the stacking device 2 to stack the objects O1 and O2 on the pallet P, and stacks 10 object layers (K=10). At this time, there will be 5 odd-numbered object layers and 5 even-numbered object layers in the object layer, and the number of layers is to define the object layer closest to the pallet P as the first layer, and along the direction away from the pallet P The second layer, the third layer, etc. are defined in order. If there are 22 objects in each odd-numbered object layer, then Q=22. If there are 24 objects in each even-numbered object layer, then R=24. Q and R may be the same or different. It should be noted that the above K, Q, and R are algebras in the mathematical definition, not symbols in the schema of this pattern.

Step S103 : use the control module to generate a first control signal according to the first predetermined arrangement-related parameter, and control the stacking device to stack objects in odd-numbered object layers.

The control module 12 is electrically connected to the processing module 11, generates a first control signal according to the first predetermined arrangement-related parameter, and controls the stacking device 2 to stack the objects O1 and O2 on the odd-numbered object layers.

Step S104 : Use the image capturing module to capture images of odd-numbered layers. Step S105: Use the detection module to parse the odd-numbered layer image to obtain the first current arrangement associated parameter, and compare the first current arrangement associated parameter with the first predetermined arrangement associated parameter.

The image capturing module 13 is electrically connected to the control module 12 and captures an odd-numbered layer of images when the stacking device 2 completes stacking the objects O1 and O2 on the odd-numbered object layers. The detection module 14 is electrically connected to the processing module 11 and the image capture module 13, and is used for parsing the odd-numbered images to obtain at least one first current arrangement associated parameter, and compares the first current arrangement associated parameter with the first predetermined arrangement associated parameters.

In this embodiment, the detection module 14 includes a cropping unit 141 , a grayscale unit 142 , a Gaussian blurring unit 143 and an edge detection unit 144 for analysis and comparison. Generally speaking, the trimming unit 141 is used to trim the image to reduce unnecessary data input. The grayscale unit 142 also converts the color image into a grayscale image in order to reduce unnecessary data input. A common practice is to combine reference conditions such as RGB, brightness, contrast, and r value in the color image to convert the color image into a grayscale image. Basic common grayscale value (0 to 255), which in turn converts color images to grayscale images. The Gaussian blur unit 143 is used to reduce the noise of the image and reduce the level of detail, thereby making the edge features of the objects in the image smoother. The Gaussian blur unit 143 can be regarded as a filter. The edge detection unit 144 uses the above-mentioned edge features to identify the edge of the object, and commonly used methods include: Laplacian, Sobel, Canny and other technologies.

Step S106: Whether it matches. Since it is currently the first layer and belongs to an odd-numbered object layer, the detection module 14 compares the first predetermined arrangement correlation parameter of the odd-numbered object layer with the first current arrangement correlation parameter parsed from the odd-numbered layer image. To put it simply, the detection module 14 is to determine whether the actual placement positions of the objects O1 and O2 are the same as the first predetermined arrangement position combination pre-calculated by the processing module 11, and when it is determined to be yes, go to step S107; When the determination is NO, the process proceeds to step S112.

Step S107: Whether the target number of layers is satisfied. The present invention will determine whether the target number of layers is satisfied, and if the determination is no, it will go to step S108, indicating that the objects of the next layer still need to be stacked; if it is determined to be yes, the step will be ended, indicating that the stacking has been completed. The present invention can use the control module 12 or other modules with a judging function to perform judgment.

Step S108 : use the control module to generate a second control signal according to the second predetermined arrangement-related parameter, and control the stacking device to stack objects on even-numbered object layers. Step S109 : Capture even-numbered layer images by using an image capture module. Step S110 : using the detection module to parse the even-numbered layer images to obtain the second current arrangement associated parameter, and compare the second current arrangement associated parameter with the second predetermined arrangement associated parameter.

After the first layer is stacked, the control module 12 starts to stack objects on the second layer, that is, the even-numbered object layers. The stacking principle of the second layer is similar to that of the first layer, and the difference only lies in the second predetermined arrangement related parameters, the second control signal, the even-numbered layer images, and the second current arrangement related parameters, so the details are not repeated.

Step S111: Whether it matches. Since it is currently the second layer and belongs to an even-numbered object layer, the detection module 14 compares the second predetermined arrangement correlation parameter of the even-numbered object layer with the second current arrangement correlation parameter parsed from the even-numbered layer image. To put it simply, the detection module 14 is to determine whether the actual placement positions of the objects O1 and O2 are the same as the predetermined arrangement positions pre-calculated by the processing module 11, and if the determination is no, it goes to step S112; if the determination is yes , go to step S113.

Step S112: Send an alarm signal by using an alarm module.

When the comparison does not match, the detection module 14 will respectively generate a first abnormal signal or a second abnormal signal according to the corresponding object layer, wherein the first abnormal signal corresponds to an odd-numbered object layer, and the second abnormal signal corresponds to an even-numbered object layer. object layer. When the alarm module 15 receives the first abnormal signal or the second abnormal signal, it will send out an alarm signal, so as to immediately notify the abnormal arrangement position of the objects in the current object layer.

Step S113: Whether the target number of layers is satisfied. When it is judged as yes, end the step; when it is judged as no, go to step S103 again.

Next, please refer to Figure 1 and Figure 4 to Figure 7 together; Figure 4 shows a schematic diagram of the first predetermined arrangement associated parameters calculated by the processing module; Figure 5 shows another figure calculated by the processing module. A schematic diagram of the process of the first predetermined arrangement associated parameters; the sixth figure is a schematic diagram of the processing module calculating another first predetermined arrangement associated parameters; the seventh diagram is a schematic diagram of calculating and labeling another first predetermined arrangement associated parameters.

In this embodiment, the processing module 11 includes a judgment unit 111 , an operation unit 112 , a unidirectional arrangement unit 113 , a symmetrical arrangement unit 114 , a pallet partition unit 115 , an overlap judgment unit 116 , and an overlap shift unit 115 . A dividing unit 117 , a mirroring unit 118 and a coordinate marking unit 119 .

The judging unit 111 judges whether the pallet P is sufficient for stacking and arranging the objects O1 and O2 according to the pallet length PL, the pallet width PW, the object length OL and the object width OW, and generates a signal of sufficient space when judging that it is yes. If not, an insufficient space signal is generated. The determination unit 111 is to determine whether the pallet P can accommodate the objects O1 and O2. The object length OL must be smaller than the pallet length PL and the pallet width PW, and the object width OW must be smaller than the pallet length PL and the pallet width PW, so that the judging unit 111 can generate a sufficient space signal.

The operation unit 112 is electrically connected to the determination unit 111, and when receiving the sufficient space signal, according to the pallet length PL, the pallet width PW, the object length OL and the object width OW, the first predetermined arrangement correlation parameter of the object and the first predetermined arrangement related parameter are calculated. 2. Predetermined arrangement of associated parameters.

For example, if the pallet length PL=31, the pallet width PW=29, the object length OL=7, and the object width OW=3, the arithmetic unit 112 will divide the pallet length PL by the object length OL and the pallet length respectively. PL is divided by the object width OW, the pallet width PW is divided by the object length OL, and the pallet width PW is divided by the object width OW, and the following Tables 1 and 2 are generated. long side of pallet result Accommodated object length OL The width of the objects that can be accommodated OW remaining length one 0 10 1 two 1 8 0 three 2 5 2 Four 3 3 1 five 4 1 0 Table I pallet broadside result Accommodated object length OL The width of the objects that can be accommodated OW remaining length one 0 9 2 two 1 7 1 three 2 5 0 Four 3 5 2 five 4 0 1 Table II

The symmetrical arrangement unit 114 is electrically connected to the computing unit 112 for making the long sides of some objects parallel to a first direction D1, and the long sides of another part of the objects parallel to a second direction D2, and the first direction D1 is substantially perpendicular to the second direction D1 Direction D2.

The pallet partition unit 115 is electrically connected to the symmetrical arrangement unit 114, and is used to divide the pallet P into a first area B1, a first area B1, a first area B1, a first area B1, a first area B1, a first area B1, a first area B1, and one area of the pallet P along the counterclockwise direction by using the pallet length PL, the pallet width PW, the object length OL, and the object width OW. Two areas B2, a third area B3 and a fourth area B4, the first area B1 has a first length L1 and a first width W1, the second area B2 has a second length L2 and a second width W2, The third area B3 is equal to the first area B1, and the fourth area B4 is equal to the second area B2.

The overlap determination unit 116 determines that the first area B1 , a second area B2 , a third area B3 and a fourth area B4 are in an area according to the first length L1 , the first width W1 , the second length L2 and the second width W2 . An overlapping state or a non-overlapping state, and in the non-overlapping state, the symmetrical arrangement unit 114 arranges the first predetermined arrangement position combination and the second predetermined arrangement position combination. The overlapping removing unit 117 is electrically connected to the overlapping determining unit 116 to generate an overlapping removing result in the overlapping state, so that the symmetrical arranging unit 114 can arrange the first predetermined arrangement position combination and the second predetermined arrangement position combination.

For example, the operation unit 112 will use the result with the remaining length of 0 for matching, that is, the result 2 and the result 5 of Table 1 are respectively matched with the result 3 of Table 2, and two first predetermined arrangements of the fourth picture and the sixth picture are generated. Position combination S1, S2.

In the first predetermined arrangement position combination S1 in the fourth figure, the first area B1 is the length of the object that can be accommodated OL(1) in the result 2 of Table 1 and the width of the object that can be accommodated in the result 3 of Table 2 OW(5 ), and the second region B2 is formed by using the accommodated object width OW(8) of the result 2 of Table 1 and the accommodated object length OL(2) of the result 3 of the table 2. It can be clearly seen from the drawing that the first area B1, the second area B2, the third area B3 and the fourth area B4 do not overlap. Therefore, the overlap determination unit 116 will determine the first area B1, the second area B2, the The third area B3 and the fourth area B4 are in a non-overlapping state.

In Figures 5 and 6, the first region B1 is formed by using the length OL(4) of the object that can be accommodated in the result 5 of Table 1 and the width OW(5) of the object that can be accommodated in the result 3 of Table 2, The second area B2 is formed by using the accommodated object width OW(1) of the result 5 of Table 1 and the accommodated object length OL(2) of the result 3 of Table 2. It can be clearly seen from the fifth figure that the first area B1 and the third area B3 overlap each other, therefore, the overlap determination unit 116 will determine that the first area B1, the second area B2, the third area B3 and the fourth area B4 are overlapping state. At this time, the first predetermined arrangement position combination is represented by S2'.

The overlap removal unit 117 removes the overlapped portion. The overlapping part can be regarded as the virtual objects in the first area B1 and the third area B3 overlapping each other, wherein the virtual objects correspond to actual objects. The overlapping removal unit 117 can remove the overlapping virtual objects in the first area B1 and the third area B3 from the inside to the outside, until the virtual objects in the first area B1 and the third area B3 do not overlap, or in a single area. The area (the first area B1 or the third area B3 ) removes the overlapping virtual objects from the inside to the outside until the virtual objects in the first area B1 and the third area B3 do not overlap. Thereby, the symmetrical arrangement unit 114 arranges the first predetermined arrangement position combination S2 of the sixth image.

Because of different pallet lengths PL, pallet widths PW, object lengths OL, and object widths OW, the operation unit 112 may only generate one matching situation. Referring to Figure 7, the pallet length PL=31, the pallet width PW=29, the object length OL=8, and the object width OW=5, because there is only one case in which the remaining length is 0, therefore, the arithmetic unit 112 Only the first predetermined arrangement position combination S3 as shown in the seventh figure will be generated.

The coordinate marking unit 119 is used to mark the virtual object coordinates of each virtual object in the first predetermined arrangement position combination S1-S3 and the second predetermined arrangement position combination, so as to associate the parameters of the first predetermined arrangement with the second predetermined arrangement The associated parameters further include the corresponding virtual object coordinates. In addition, the unidirectional arrangement unit 113 makes the long sides of all objects parallel to the first direction D1 or parallel to the second direction D2. Through the above description of the symmetrical arrangement unit 114 having the first direction D1 and the second direction D2, It should be understood that the unidirectional arrangement unit 113 has only one direction.

Please refer to the first figure, the second figure and the seventh to eleventh figures together; wherein, the eighth figure shows that the pallet stacking state detection system provided by the first embodiment of the present invention controls the stacking device in odd-numbered objects The three-dimensional view of the stacked objects; the ninth figure is a schematic diagram of the odd-numbered layer images captured by the pallet stacking state detection system provided by the first embodiment of the present invention; the tenth figure is the pallet provided by the first embodiment of the present invention. The stacking state detection system controls the stacking device to stack objects on even-numbered object layers; and, Figure 11 is a schematic diagram showing the even-numbered layer images captured by the pallet stacking state detection system provided by the first embodiment of the present invention. As shown in the figure, the control module 12 controls the stacking device 2 to stack the same objects on the pallet P.

Here, the seventh figure is used as an example for illustration. The first predetermined arrangement position combination S3 generated by the processing module 11 is processed. The coordinate marking unit 119 will mark all virtual objects V11, V12, V21, V22, V23, V24, V25, V26, V27, V28, V29, V31, V32, V41, V42, V43, V44, V45, V46, V47, The virtual object coordinates of V48 and V49.

The control module 12 controls the stacking device 2 to combine S3 the stacked objects according to the first predetermined arrangement position. The first area B1 includes virtual objects V11 and V12, and the stacking device 2 stacks the objects O1 and O2 according to the virtual object coordinates of the virtual objects V11 and V12, so that the objects O1 and O2 correspond to the virtual objects V11 and V12 respectively. Similarly, the stacking device 2 will stack the objects O3~O11 to correspond to the virtual objects V21~V29 in the second area B2, stack the objects O12~O13 to correspond to the virtual objects V31~V32 in the third area B3 according to the virtual object coordinates, The stacked objects O14 to O22 correspond to the virtual objects V41 to V49 in the fourth area B4.

After the stacking device 2 is stacked, the image capturing module 13 captures an odd-numbered layer image IM1, wherein the odd-numbered layer image IM1 includes the object images I1-I22 corresponding to the objects O1-O22 respectively.

The detection module 14 compares the object images I1 to I22 to see if there are virtual objects V11, V12, V21, V22, V23, V24, V25, V26, V27, V28, V29, V31, V32, V41, V42, V43, V44, V45, V46, V47, V48, V49 match. When they do not match each other, the detection module 14 will generate a first abnormal signal, and use the alarm module 15 to issue an alarm signal. Because if the objects O1 to O22 are not arranged according to the first predetermined arrangement position combination S3, the structural strength after stacking will be affected, and even the collapse of the objects may cause damage to the objects or other safety problems. Therefore, the alarm module 15 will issue an alarm signal to inform that the current arrangement position of the objects O1 to O22 is abnormal.

When they match each other and confirm that the target number of layers has not been met, the stacking device 2 will continue to stack objects to the second layer. In this embodiment, the mirror image unit 118 mirrors the first predetermined arrangement position combination to form the second predetermined arrangement position combination to improve the structural strength of the stack. It should be noted that the mirror image here refers to mirroring the first predetermined arrangement position combination S3 along a symmetry axis, and the symmetry axis is defined beside and parallel to the boundary shared by the virtual objects V21, V24, V27, and V31. Therefore, it can be considered that the virtual objects in the first area B1 are exchanged with the second area B2, and the virtual objects in the third area B3 are exchanged with the fourth area B4.

Referring to FIG. 10, the stacking device 2 starts stacking the objects O23-O44 at the second layer. It can be seen from the diagram that objects O23~O31 are placed in the same way as objects O5~O11, and objects O32~33 are placed in the same way as objects O1~O2.

After the stacking device 2 is stacked, the image capturing module 13 captures an even-numbered layer image IM2, wherein the even-numbered layer image IM2 includes the object images I23-I44 corresponding to the objects O23-O44 respectively. The detection module 14 compares whether the object images I23 to I44 have virtual objects corresponding to the second predetermined arrangement position combination. When they do not match each other, the detection module 14 will generate a second abnormal signal, and use the alarm module 15 to issue an alarm signal. It should be noted that the same objects are drawn as the same physical objects here, but not limited to this. The same objects can also refer to packaging boxes of the same size, and the contents can be the same or different. It does not affect the implementation of the present invention.

Finally, please refer to FIG. 12, which is a block diagram showing a second embodiment of the present invention. As shown in the figure, a pallet stacking state detection system 3 is applied to a stacking device 2 a and includes an image capturing module 31 , a detection module 32 and an alarm module 33 . Different from the first embodiment, the stacking device 2a itself stacks the objects according to the first predetermined arrangement associated parameter and the second predetermined arrangement associated parameter calculated by the built-in rule.

The image capturing module 31 captures an odd-numbered layer image when the stacking device 2a completes stacking and arranging each odd-numbered object layer, and captures an even-numbered layer when the stacking device 2a completes stacking and arranging each even-numbered object layer image.

The detection module 32 is electrically connected to the image capture module 31, and is used for analyzing the odd-numbered layer images to obtain at least one first current arrangement correlation parameter, and analyzing the even-numbered layer images to obtain at least one second current arrangement correlation parameter. When the first current arrangement correlation parameter does not match the first predetermined arrangement correlation parameter, a first abnormal signal is generated; when it is compared that the second current arrangement correlation parameter does not match the second predetermined arrangement correlation parameter, a second abnormal signal is generated. The detection module 32 may include a cropping unit 321 , a gray scale unit 322 , a Gaussian blurring unit 323 and an edge detection unit 324 which are the same as the first embodiment.

The alarm module 33 is electrically connected to the detection module 32 for sending an alarm signal when the first abnormal signal or the second abnormal signal is received. Compared with the first embodiment, the present embodiment can be externally connected to the existing stacking device 2a to improve the versatility of use.

From the above description, it is obvious that the pallet stacking state in the pallet stacking state detection system refers to the state where objects are stacked on the pallet, not just the state of the pallet itself. In addition to the detection function, the pallet stacking state detection system in the first embodiment also has an additional function of controlling the stacking device.

To sum up, the present invention utilizes the processing module, the control module, the image capture module, the detection module and the alarm module to control the stacking device to stack the objects on the pallet. Compared with the prior art, the present invention utilizes the processing module to calculate the associated parameters of the first predetermined arrangement and the associated parameters of the second predetermined arrangement, which can save manpower planning and calculation, and can also quickly calculate the first predetermined arrangement when changing objects. The associated parameters are associated with the second predetermined arrangement; the image capture module, the detection module and the alarm module can capture images and compare them in real time when the stacking of each layer of objects is completed. An alarm signal is generated on the ground, so as to avoid the problem of structural strength reduction caused by the object being placed incorrectly and continuing to stack up, and the resulting collapse, object damage and safety problems. In addition, the mirror image unit of the present invention mirrors the first predetermined arrangement correlation parameter to form the second predetermined arrangement correlation parameter, which can further achieve the effect of improving the overall structural strength.

Through the detailed description of the preferred embodiments above, it is hoped that the features and spirit of the present invention can be described more clearly, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the claimed scope of the present invention.

1,3: Pallet stacking status detection system 11: Processing modules 111: Judgment unit 112: Operation unit 113: Unidirectional arrangement unit 114: Symmetrical arrangement of units 115: Pallet partition unit 116: Overlap Judgment Unit 117: Overlap removal unit 118: Mirror unit 119: Coordinate marking unit 12: Control module 13,31: Image capture module 14,32: Detection module 141,321: Clipping Unit 142,322: Grayscale unit 143,323: Gaussian Blur Unit 144,324: Edge detection unit 15,33: Alarm module 16: Input module 2,2a: Stacking device B1: The first area B2: The second area B3: The third area B4: Fourth area D1: first direction D2: Second direction IM1: Odd layer image IM2: Even layer image I1~I44: object image L1: first length L2: second length O1~O44: Object OL: object length OW: object width P: Pallet PL: pallet length PW: pallet width S101~S113: Steps S1, S2, S2', S3: the first predetermined arrangement position combination T: conveying device V11, V12, V21, V22, V23, V24, V25, V26, V27, V28, V29, V31, V32, V41, V42, V43, V44, V45, V46, V47, V48, V49: virtual objects W1: first width W2: Second width

The first figure is a block diagram showing the first embodiment of the present invention; The second figure is a schematic diagram showing the use environment of the first embodiment of the present invention; The third A and the third B are flow charts showing the first embodiment of the present invention; Figures 4 to 7 are schematic diagrams showing the first predetermined arrangement position combination of the first predetermined arrangement associated parameters of the first embodiment of the present invention; FIG. 8 is a perspective view showing an odd-numbered object layer stacking object according to the first embodiment of the present invention; The ninth figure is a schematic diagram showing the odd-numbered layer images of the eighth figure; FIG. 10 is a perspective view showing an even-numbered object layer stacking object according to the first embodiment of the present invention; The eleventh figure is a schematic diagram showing the even-numbered layer images of the tenth figure; and Figure 12 is a block diagram showing the second embodiment of the present invention.

1: Pallet stacking state detection system

11: Processing modules

111: Judgment unit

112: Operation unit

113: Unidirectional arrangement unit

114: Symmetrical arrangement of units

115: Pallet partition unit

116: Overlap Judgment Unit

117: Overlap removal unit

118: Mirror unit

119: Coordinate marking unit

12: Control module

13: Image capture module

14: Detection module

141: Clipping unit

142: Grayscale unit

143: Gaussian Blur Unit

144: Edge detection unit

15: Alarm module

16: Input module

2: Stacking device

Claims (8)

A pallet stacking state detection system is used to control a stacking device to arrange a plurality of identical objects on a pallet to form an object layer, so that K above-mentioned arrangement planes are stacked on K above-mentioned arrangement planes. Object layer, including: A processing module receives a pallet length and a pallet width of the pallet and receives an object length and an object width of each object, and uses a built-in rule to calculate the Q number of the above objects in each at least one first predetermined arrangement correlation parameter of the odd-numbered object layer, and calculating at least one second predetermined arrangement correlation parameter of the R above-mentioned objects in each even-numbered object layer; A control module, electrically connected to the processing module, is used for generating a first control signal according to the at least one first predetermined arrangement-related parameter before stacking each odd-numbered object layer, and used for stacking the above-mentioned object layers Before each even-numbered object layer, a second control signal is generated according to the at least one second predetermined arrangement-related parameter, so as to control the stacking device to stack the objects; An image capturing module is electrically connected to the control module for capturing an odd-numbered image when every odd-numbered object layer is stacked and arranged, and when every even-numbered object layer is stacked and arranged , to capture an even-numbered layer image; A detection module is electrically connected to the processing module and the image capture module, and is used for parsing the odd-numbered layer image to obtain at least one first current arrangement correlation parameter, and parsing the even-numbered layer image to at least one second The current arrangement correlation parameter, when the at least one first current arrangement correlation parameter is compared with the at least one first predetermined arrangement correlation parameter, a first abnormal signal is generated; when the at least one second current arrangement correlation parameter is compared When the parameter does not match the at least one second predetermined arrangement associated parameter, a second abnormal signal is generated; and an alarm module, electrically connected to the detection module, for sending an alarm signal when receiving the first abnormal signal or the second abnormal signal; Wherein, the at least one first predetermined arrangement correlation parameter includes at least a first predetermined arrangement position combination, and the at least one second predetermined arrangement correlation parameter includes at least a second predetermined arrangement position combination. The pallet stacking state detection system according to claim 1, wherein the processing module comprises: a judging unit for judging whether the pallet is sufficient for the objects to be stacked and arranged according to the length of the pallet, the width of the pallet, the length of the object and the width of the object; generating an insufficient space signal if not; and an operation unit electrically connected to the determination unit, when receiving the sufficient space signal, calculates the at least one of the objects according to the pallet length, the pallet width, the object length and the object width The first predetermined arrangement associated parameter is associated with the at least one second predetermined arrangement associated parameter. The pallet stacking state detection system according to claim 2, wherein the processing module further comprises a symmetrical arrangement unit, and the symmetrical arrangement unit is electrically connected to the operation unit, so that the long sides of some objects are parallel to a first In one direction, the long sides of another part of the objects are parallel to a second direction, and the first direction is substantially perpendicular to the second direction. The pallet stacking state detection system according to claim 3, wherein the processing module further comprises: A pallet partition unit is electrically connected to the symmetrical arrangement unit, and is used for dividing the pallet into a first area along a counterclockwise direction by using the pallet length, the pallet width, the object length and the object width. A second area, a third area and a fourth area, the first area has a first length and a first width, the second area has a second length and a second width, the third area is equal to the first area, the fourth area is equal to the second area; An overlap determination unit is electrically connected to the pallet partition unit, and determines the first area, the second area and the third area according to the first length, the first width, the second length and the second width The area and the fourth area are in an overlapping state or a non-overlapping state, and when in the non-overlapping state, the symmetrical arrangement unit arranges the first predetermined arrangement position combination and the second predetermined arrangement position combination; and An overlap removal unit is electrically connected to the overlap determination unit for generating an overlap removal result in the overlapped state, so as to allow the symmetrical arrangement unit to arrange the combination of the first predetermined arrangement position and the second arrangement A combination of predetermined arrangement positions. The pallet stacking state detection system according to claim 1, wherein the processing module further comprises a mirroring unit, and the mirroring unit combines and mirrors the first predetermined arrangement position to form the second predetermined arrangement position combination. The pallet stacking state detection system according to claim 1, wherein the processing module further comprises a coordinate marking unit, and the coordinate marking unit is used to mark a plurality of virtual object coordinates corresponding to the objects, so as to make the The at least one first predetermined arrangement associated parameter and the at least one second predetermined arrangement associated parameter further include corresponding virtual object coordinates. A pallet stacking state detection system is applied to a stacking device. The stacking device is used to arrange a plurality of identical objects on an arrangement plane on a pallet to form an object layer, thereby stacking on K above-mentioned arrangement planes K pieces of the above-mentioned object layers are obtained, and the stacking device calculates at least one first predetermined arrangement correlation parameter of the above-mentioned Q pieces of the above-mentioned objects in each odd-numbered object layer according to a built-in rule, and the R above-mentioned objects in each of the even-numbered object layers At least one second predetermined arrangement associated parameter of the object layer is used to stack the objects, and the pallet stacking state detection system includes: an image capturing module for capturing an odd-numbered image when every odd-numbered object layer is stacked and arranged, and capturing an even-numbered image when every even-numbered object layer is stacked and arranged; A detection module is electrically connected to the image capture module, and is used for parsing the odd-numbered layer image to obtain at least one first current arrangement correlation parameter, and analyzing the even-numbered layer image to obtain at least one second current arrangement correlation parameter, When the at least one first current arrangement-related parameter is compared with the at least one first predetermined arrangement-related parameter, a first abnormal signal is generated; when the at least one second current arrangement-related parameter is compared with the at least one When the associated parameters of the second predetermined arrangement are inconsistent, a second abnormal signal is generated; and an alarm module, electrically connected to the detection module, for sending an alarm signal when receiving the first abnormal signal or the second abnormal signal; Wherein, the at least one first predetermined arrangement correlation parameter includes at least a first predetermined arrangement position combination, and the at least one second predetermined arrangement correlation parameter includes at least a second predetermined arrangement position combination. A pallet stacking state detection method is implemented using the pallet stacking state detection system as described in claim 1, and includes the following steps: (a) using the processing module to receive the pallet length, the pallet width, the object length and the object width, and calculate the at least one first predetermined arrangement associated parameter and the at least one second predetermined arrangement associated parameter; (b) using the control module to generate the first control signal and the second control signal according to the at least one first predetermined arrangement associated parameter and the at least one second predetermined arrangement associated parameter respectively, so as to respectively control the stacking device to stack the some objects; (c) using the image capturing module to capture the odd-numbered layer image and the even-numbered layer image respectively; (d) using the detection module to resolve the at least one first current arrangement correlation parameter and the at least one second current arrangement correlation parameter from the odd-numbered layer image and the even-numbered layer image respectively, and compare the at least one first current arrangement correlation parameter When a current arrangement-related parameter does not match the at least one first predetermined arrangement-related parameter, the first abnormal signal is generated, and when the at least one second current-arrangement-related parameter is compared with the at least one second predetermined arrangement-related parameter , the second abnormal signal is generated; (e) Using the alarm module to issue the alarm signal when the first abnormal signal or the second abnormal signal is received.

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