TWI773332B - Use of stacking system capable of stacking materials of random sizes - Google Patents
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Abstract
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本發明係關於自動化設備的技術領域，特別係關於一種能夠堆疊隨機尺寸的物料之堆疊系統。 The present invention relates to the technical field of automation equipment, particularly to a stacking system capable of stacking materials of random sizes.
本發明另關於前述能夠堆疊隨機尺寸的物料之堆疊系統之使用方法。 The present invention also relates to a method of using the aforementioned stacking system capable of stacking materials of random sizes.
一般製造業、運輸業…等，為讓物料在儲存於儲料區時，能夠盡量減少多個物料堆疊後的體積，一般會透過人工判斷，再由工人自行將物料進行堆疊，然而，隨著製造業與運輸業的逐漸發達，每日進出儲料區的物料數量上升，人工堆疊的速度無法快速消耗大量進出儲料區的物料，而一般物流業、包裝業需處理的物料尺寸無法統一，難以透過機械進行堆疊，故多以人工自行排列。 In general manufacturing, transportation, etc., in order to reduce the volume of multiple materials stacked as much as possible when materials are stored in the storage area, workers will generally judge and stack materials by themselves. However, with the With the gradual development of the manufacturing and transportation industries, the number of materials entering and leaving the storage area every day has increased, and the speed of manual stacking cannot quickly consume a large amount of materials entering and leaving the storage area. It is difficult to stack them mechanically, so they are mostly arranged manually.
然而，人工堆疊物料不僅效率不彰，更容易因不同人的經驗而產生不同的堆疊結果，例如，經驗低的人工堆疊容易堆疊不穩固，或無法有效利用空間，造成儲料空間的浪費，有鑑於此，確有必要提供一種技術手段以解決人工堆疊所造成的效率不彰或儲料空間之浪費的問題。 However, manual stacking of materials is not only inefficient, but also prone to different stacking results due to the experience of different people. For example, manual stacking with inexperience is prone to unstable stacking or ineffective use of space, resulting in waste of storage space. In view of this, it is indeed necessary to provide a technical means to solve the problem of inefficiency or waste of storage space caused by manual stacking.
本發明之第一個目的在於，解決人工堆疊效率不彰的問題。 The first objective of the present invention is to solve the problem of low efficiency of manual stacking.
本發明之第二個目的在於，解決傳統自動堆疊機僅能對預先定義好特定尺寸的物件進行堆疊位置判斷，無法解決產業中多樣化的物件堆疊問題。 The second object of the present invention is to solve the problem that the traditional automatic stacker can only judge the stacking position of objects with a predefined specific size, and cannot solve the problem of various object stacking in the industry.
為達成前述目的，本發明為一種能夠堆疊隨機尺寸的物料之堆疊系統，包含：一入料區，供以從外部接收物料；一暫存區，供以暫時存放物料；一堆料區，供以堆疊來自該入料區或該暫存區的物料，並預設其尺寸定義為一空間資訊；一抓取元件，於該入料區、該暫存區及該堆料區之間移動並夾取或放置物料；一中央處理模組，具有供以偵測該入料區內的物料之尺寸的一立體影像偵測器、與該立體影像偵測器訊號連接的一紀錄單元、與該抓取元件及該紀錄單元控制連接的一控制單元。 In order to achieve the aforementioned object, the present invention is a stacking system capable of stacking materials of random sizes, comprising: a feeding area for receiving materials from outside; a temporary storage area for temporarily storing materials; a stacking area for To stack the materials from the feeding area or the temporary storage area, and define its size as a spatial information; a grab element moves between the feeding area, the temporary storage area and the stacking area and Picking up or placing materials; a central processing module with a stereoscopic image detector for detecting the size of the material in the feeding area, a recording unit connected with the signal of the stereoscopic image detector, and the The grasping element and the recording unit control a connected control unit.
在一較佳實施例中，該物料尺寸不拘，且每一次進入該入料區及該暫存區的物料數量至少一個。 In a preferred embodiment, the size of the material is not limited, and the number of materials entering the feeding area and the temporary storage area each time is at least one.
為達成前述目的，本發明另提出使用前述之能夠堆疊隨機尺寸的物料之堆疊系統的方法，包含：一初始化步驟，物料進入該入料區，該控制單元驅動該抓取元件將入料區內的物料移動至該暫存區； 一初始判斷步驟，該立體影像偵測器偵測該入料區存放有物料，並將該入料區及該暫存區的物料尺寸傳輸至該紀錄單元；一空間判斷步驟，將該空間資訊傳輸至該紀錄單元儲存；一放置點判斷步驟，定義該空間資訊中的其中一點為原點，以面積比對該入料區的物料尺寸及該空間資訊產生一入料放置點，以面積比對該暫存區的物料尺寸及該空間資訊產生一暫存放置點，該紀錄單元取出該入料放置點與該暫存放置點距離該原點最接近者；一驅動步驟，該控制單元驅動該抓取元件將最接近該原點的該入料放置點或該暫存放置點的物料夾取並移動至該堆料區。 In order to achieve the aforementioned object, the present invention further proposes a method for using the aforementioned stacking system capable of stacking materials of random sizes, including: an initialization step, the materials enter the feeding area, and the control unit drives the grabbing element to move the material into the feeding area. Move the materials to the temporary storage area; In an initial determination step, the three-dimensional image detector detects the material stored in the feeding area, and transmits the material size of the feeding area and the temporary storage area to the recording unit; a spatial determination step, the spatial information It is transmitted to the recording unit for storage; a placement point determination step defines one point in the spatial information as the origin, and generates an incoming placement point based on the area ratio of the material size of the feeding area and the spatial information. A temporary storage placement point is generated from the material size and the spatial information of the temporary storage area, and the recording unit takes out the input placement point and the temporary storage placement point which is closest to the origin; a driving step, the control unit drives The grabbing element clamps and moves the material at the feeding placement point or the temporary storage placement point closest to the origin to the stacking area.
在一較佳實施例中，該物料堆放於堆料區後，該中央處理模組紀錄物料覆蓋的放置層，並在紀錄單元內將該放置層中被物料覆蓋的面積移除。 In a preferred embodiment, after the material is stacked in the stacking area, the central processing module records the placement layer covered by the material, and removes the area of the placement layer covered by the material in the recording unit.
在一較佳實施例中，當物料堆放於堆料區後，相鄰物料之間的頂面之段差小於一段差距離時，則該紀錄單元判斷小於該段差距離的相鄰物料之頂面位於同一層。 In a preferred embodiment, after the materials are stacked in the stacking area, when the level difference between the top surfaces of adjacent materials is less than a distance, the recording unit determines that the top surface of the adjacent materials less than the distance is located at the top surface of the material. same layer.
在一較佳實施例中，該立體影像偵測器在偵測該入料區的物料尺寸後，會將物料的長、寬、高分別增加一膨脹距離。 In a preferred embodiment, after the 3D image detector detects the size of the material in the feeding area, the length, width and height of the material are respectively increased by an expansion distance.
在一較佳實施例中，該紀錄單元在紀錄最底層排列的頂面面積，當紀錄單元預計要將新的物料堆疊於堆料區中的另一個物料上時，會確定堆料區中的物料之頂面積，與新堆疊的物料之底面積差距，當堆料區中的物料之頂面積與新堆疊的物料之底面積差距小於一差距面積時，則判斷新堆疊的物料能夠堆疊於堆料區中的物料之頂面。 In a preferred embodiment, the recording unit records the top surface area of the bottommost arrangement. When the recording unit expects to stack a new material on another material in the stacking area, it will determine the The difference between the top area of the material and the bottom area of the newly stacked material. When the difference between the top area of the material in the stacking area and the bottom area of the newly stacked material is less than a gap area, it is judged that the newly stacked material can be stacked in the stack. The top surface of the material in the material area.
在一較佳實施例中，該紀錄單元運算即將進入堆料區的物料之切入方向，在記錄物料放置於堆料區的位置後，另外當物料即將進入兩個物料之間時，選擇抓取元件上的物料與兩物料之間發生最少干涉的方向進入。 In a preferred embodiment, the recording unit calculates the cutting direction of the material that is about to enter the stacking area. After recording the position of the material in the stacking area, when the material is about to enter between the two materials, it selects to grab the material. The material on the component enters in the direction of least interference between the two materials.
在一較佳實施例中，該中央處理模組將該堆料區沿著垂直方向區分成複數個放置層，在該中央處理模組將該入料區內的物料以及該暫存區內的物料與堆料區內的空置體積進行匹配時，若無產生任何一個置物點，則中央處理模組會開始搜索下一個放置層，並從相鄰的另一個放置層匹配置物點。 In a preferred embodiment, the central processing module divides the stacking area into a plurality of placement layers along the vertical direction, and the central processing module divides the materials in the feeding area and the materials in the temporary storage area When the material is matched with the vacant volume in the stacking area, if there is no storage point, the central processing module will start to search for the next placement layer and match the storage point from another adjacent placement layer.
在一較佳實施例中，當堆料區中的其中一個空間被兩個以上的物料圍繞，又有其餘物料堆疊於空間上方，使空間的四周同時被多個物料所阻擋時，紀錄單元將忽略被阻擋之無效空間。 In a preferred embodiment, when one of the spaces in the stacking area is surrounded by two or more materials, and other materials are stacked above the space, so that the surrounding of the space is blocked by multiple materials at the same time, the recording unit will Blocked dead space is ignored.
在一較佳實施例中，該暫存區的數量為複數個。 In a preferred embodiment, the number of the temporary storage areas is plural.
本案透過設置暫存區，並讓中央處理模組記錄對入料區及暫存區內的物料尺寸，再由中央處理模組的紀錄單元選擇最適合堆疊於堆料區的物料，進而讓中央處理模組能夠在每次堆疊過程中選擇最適合堆料區當下剩餘空間的物料尺寸，使堆疊結果更為緊密且穩固，不僅使堆疊完的堆料區之物料更為緊密且穩固，由於各物料之間的空隙少，進而更節省堆疊空間而達成節省儲存成本的效果，大幅提升整體空間的利用率。 In this case, a temporary storage area is set up, and the central processing module records the size of the materials in the feeding area and the temporary storage area, and then the recording unit of the central processing module selects the most suitable materials for stacking in the stacking area, and then allows the central processing module The processing module can select the material size that is most suitable for the current remaining space in the stacking area in each stacking process, so that the stacking result is more compact and stable, not only making the materials in the stacking area more compact and stable, but also because each There are fewer gaps between materials, which saves stacking space and achieves the effect of saving storage costs, which greatly improves the utilization rate of the overall space.
10:入料區 10: Feeding area
20:暫存區 20: Temporary storage area
30:堆料區 30: stacking area
31:放置層 31: Place Layers
31A:放置層 31A: Placing Layers
31B:放置層 31B: Placing Layers
31C:放置層 31C: Placing Layers
40:抓取元件 40: Grab components
50:中央處理模組 50: Central processing module
51:立體影像偵測器 51: Stereoscopic image detector
53:紀錄單元 53: Recording Unit
54:控制單元 54: Control unit
S1:初始化步驟 S1: Initialization step
S2:初始判斷步驟 S2: Initial judgment step
S3:空間判斷步驟 S3: Spatial judgment step
S4:放置點判斷步驟 S4: Placement point judgment step
S5:驅動步驟 S5: Drive Steps
A:物料 A:Material
A1:物料 A1:Material
A2:物料 A2:Material
H1:段差距離 H1: step distance
H2:膨脹距離 H2: Expansion distance
H3:差距面積 H3: Gap area
H4:無效空間 H4: invalid space
圖1為本發明於一較佳實施例中之結構示意圖；圖2為本發明於一較佳實施例中入料區、暫存區、堆料區、抓取元件的示意圖；圖3為本發明於另一較佳實施例中之結構示意圖； 圖4為本發明於另一較佳實施例中入料區、暫存區、堆料區、抓取元件的示意圖；圖5為本發明於一較佳實施例中之步驟圖；圖6A為堆料區被區分為多個放置層之示意圖；圖6B為基於圖4中的中間放置層被兩個物料的面積覆蓋之平面示意圖；圖6C為基於圖4中的最頂層的放置層被物料的面積覆蓋之平面示意圖；圖7為兩個物料之間具有一段差距離之示意圖；圖8為物料設定膨脹距離之示意圖；圖9為兩物料相疊差距小於一差距面積之示意圖；圖10A為物料以切入方向進入兩物料之間的立體示意圖；圖10B為物料以切入方向進入兩物料之間的平面示意圖；圖11為物料將空間封閉後出現無效空間之示意圖。 Fig. 1 is a schematic diagram of the structure of the present invention in a preferred embodiment; Fig. 2 is a schematic diagram of the feeding area, the temporary storage area, the stacking area and the grabbing element in a preferred embodiment of the present invention; Fig. 3 is a schematic diagram of the present invention A schematic structural diagram of the invention in another preferred embodiment; 4 is a schematic diagram of the feeding area, the temporary storage area, the stacking area, and the grabbing element in another preferred embodiment of the present invention; FIG. 5 is a step diagram of the present invention in a preferred embodiment; FIG. 6A is A schematic diagram of the stacking area being divided into multiple placement layers; FIG. 6B is a schematic plan view based on the middle placement layer in FIG. 4 covered by the area of two materials; FIG. 6C is based on the topmost placement layer in FIG. 4 is covered by materials Figure 7 is a schematic diagram of a gap between two materials; Figure 8 is a schematic diagram of the material setting expansion distance; Figure 9 is a schematic diagram of the overlapping gap between two materials is less than a gap area; The three-dimensional schematic diagram of the material entering between two materials in the cutting direction; Figure 10B is a schematic plan view of the material entering between the two materials in the cutting direction; Figure 11 is a schematic diagram of an invalid space after the material closes the space.
請參閱圖1及圖2，本發明為一種能夠堆疊隨機尺寸的物料之堆疊，主要具有一入料區10、一暫存區20、一堆料區30、一抓取元件40及一中央處理模組50，其中：該入料區10供以從外部接收物料A，前述的物料A尺寸不拘，且每一次進入該入料區10內的物料A尺寸也不盡相同，每一次存放於該入料區10的物料A至少一個；在本實施例中，該入料區10為一平台或一空間，該入料區10的尺寸足以容納各種尺寸的物料A。
Please refer to FIG. 1 and FIG. 2 , the present invention is a stack capable of stacking materials of random sizes, and mainly includes a
該暫存區20供以暫時存放物料A，前述的物料A尺寸不拘，且每一次存放於該暫存區20內的物料A尺寸也不盡相同，每一次存放於該暫存區20
的物料A至少一個；在本實施例中，該暫存區20為一平台或一空地，該暫存區20的尺寸足以容納各種尺寸的物料A，且該暫存區20的數量並不限於一個，也能夠有多個。
The
該堆料區30供以堆疊來自該入料區10或該暫存區20的物料A；在本實施例中，該堆料區30為堆疊物料A的位置，複數個物料A最終全數被堆置於該堆料區30內進行儲放，而堆料區30具有垂直高度的空間，透過垂直高度空間能夠堆疊物料A，並根據物料A堆疊方式不同，而能夠堆疊多層物料A。
The stacking
該抓取元件40於該入料區10、該暫存區20及該堆料區30之間移動並夾取或放置物料A；在本實施例中，該抓取元件40使用FANUC Robot型號M-20iD/25的機械手臂，前述機械手臂能夠搬運重量於為12~35kg的物料A，然而，該抓取元件40所使用的型態並不以此為限，當然能夠使用其他線性手臂、SCARA手臂、關節多軸機械手臂等。
The grabbing
該中央處理模組50具有供以偵測該入料區10內的物料A之尺寸的一立體影像偵測器51、與該立體影像偵測器51訊號連接的一紀錄單元53、與該抓取元件40及該紀錄單元53控制連接的一控制單元54；在本實施例中，該立體影像偵測器51使用FANUC型號3DV/400的立體影像偵測器51(3D Vision Sensor)，該立體影像偵測器51並不以前述舉例為限，當然能夠使用其他型號之立體影像偵測器51完成相同的偵測功能，而該紀錄單元53為處理器(Central Processing Unit，縮寫：CPU)，使該紀錄單元53能夠進行儲存、運算、比對等功能。
The
請參閱圖3及圖4，在另一實施例中，該能夠堆疊隨機尺寸的物料之堆疊系統，包含該入料區10、該堆料區30、該抓取元件40及該中央處理模組50：
該入料區10供以從外部接收物料A，前述的物料A尺寸不拘，且每一次進入該入料區10內的物料A尺寸也不盡相同，每一次存放於該入料區10的物料A至少一個；在本實施例中，該入料區10為一平台或一空間，該入料區10的尺寸足以容納各種尺寸的物料A。
Please refer to FIG. 3 and FIG. 4 , in another embodiment, the stacking system capable of stacking materials of random sizes includes the
該堆料區30供以堆疊來自該入料區10的物料A；在本實施例中，該堆料區30為堆疊物料A的位置，複數個物料A最終全數被堆置於該堆料區30內進行儲放，而堆料區30具有垂直高度的空間，透過垂直高度空間能夠堆疊物料A，並根據物料A堆疊方式不同，而能夠堆疊多層物料A。
The stacking
該抓取元件40於該入料區10及該堆料區30之間移動並夾取或放置物料A；在本實施例中，該抓取元件40使用FANUC Robot型號M-20iD/25的機械手臂，前述機械手臂能夠搬運重量於為12~35kg的物料A，然而，該抓取元件40所使用的型態並不以此為限，當然能夠使用其他線性手臂、SCARA手臂、關節多軸機械手臂等。
The grabbing
該中央處理模組50具有供以偵測該入料區10內的物料A之尺寸的一立體影像偵測器51、與該立體影像偵測器51訊號連接的一紀錄單元53、與該抓取元件40及該紀錄單元53控制連接的一控制單元54；在本實施例中，該立體影像偵測器51使用FANUC型號3DV/400的立體影像偵測器51(3D Vision Sensor)，該立體影像偵測器51並不以前述舉例為限，當然能夠使用其他型號之立體影像偵測器51完成相同的偵測功能，而該紀錄單元53為處理器(Central Processing Unit，縮寫：CPU)，使該紀錄單元53能夠進行儲存、運算、比對等功能。
The
請參閱圖5，前述能夠堆疊隨機尺寸的物料之堆疊之核心使用方法如下：
一初始化步驟S1，物料A進入該入料區10，該控制單元54驅動該抓取元件40將入料區10內的物料A移動至該暫存區20；在本實施例中，該初始化步驟S1會從外部持續將物料A移動至該入料區10，每一次該入料區10會放置至少一個物料A，而該中央處理模組50根據紀錄判斷該暫存區20是否放置有物料A，若無放置物料A，則該中央處理模組50驅動該抓取元件40將該入料區10內的物料A移動至空置的暫存區20，反覆執行至暫存區20存放有一個物料A後，則初始化步驟S1停止並進入下一步驟。
Please refer to Figure 5. The core usage of the aforementioned stacking of random-sized materials is as follows:
In an initialization step S1, the material A enters the
一初始判斷步驟S2，該立體影像偵測器51偵測該入料區10存放有物料A，並紀錄該暫存區20內存放有物料A，並將該入料區10及該暫存區20的物料A尺寸傳輸至該紀錄單元53；在本實施例中，該初始判斷步驟S2同時儲存並計算該入料區10及該暫存區20的物料A尺寸。
In an initial determination step S2, the
一空間判斷步驟S3，將該空間資訊傳輸至該紀錄單元53儲存；在本實施例中，該紀錄單元53將該空間資訊垂直區分為複數個放置層31。
In a spatial determination step S3 , the spatial information is transmitted to the
一放置點判斷步驟S4，定義該空間資訊中的其中一點為原點，以面積比對該入料區10的物料A尺寸及該空間資訊產生一入料放置點，以面積比對該暫存區20的物料A尺寸及該空間資訊產生一暫存放置點，該紀錄單元53取出該入料放置點與該暫存放置點距離該原點最接近者；在本實施例中，該放置點判斷步驟S4中透過該紀錄單元53從原點開始沿著長邊逐步搜索能夠放置該入料區10的物料A之位置，直到尋得第一個位置則視為該入料放置點，同樣地，透過該紀錄單元53從原點開始沿著長邊逐步搜索能夠放置該暫存區20的物料A之位置，直到尋得第一個位置則視為該暫存放置點。
A placement point determination step S4, defining one point in the spatial information as the origin, generating an incoming placement point based on the area ratio of the size of the material A in the
一驅動步驟S5，該控制單元54驅動該抓取元件40將最接近該原點的該入料放置點或該暫存放置點的物料A夾取並移動至該堆料區30；在本實施
例中，該紀錄單元53判斷該暫存放置點相較該入料放置點更接近該原點，因此，該控制單元54驅動FANUC Robot型號M-20iD/25的機械手臂夾取該暫存區20內的物料A，並將暫存區20內的物料A移動至該暫存放置點。
In a driving step S5, the
其次，請參閱圖6A至圖6C，由於物料A的高度不一，因此物料A堆放於堆料區30後，在本實施例中，圖6A中顯示兩個不同高度的物料A1、A2放置於堆料區30中，而該中央處理模組50紀錄物料A1、A2覆蓋的放置層31A、31B、31C，並在紀錄單元53內將該放置層31A、31B、31C中被物料A1、A2覆蓋的面積移除，在圖6B中可以看到由於最低層及中間層的放置層31A、31B兩物料A1、A2都有覆蓋面積，因此，紀錄於紀錄單元53中的放置層31會將最低層及中間層的放置層31A、31B之覆蓋面積移除，而圖6B顯示最高層的放置層31C，由於僅有一個物料A1覆蓋到最高層的放置層31C，因此最高層僅有一個物料A1覆蓋的面積被移除，藉此紀錄物料A1、A2於不同的放置層31A、31B、31C中覆蓋的面積，進而達成立體堆疊物料A的功效。請參閱圖7，值得一提的是，當物料A堆放於堆料區30後，相鄰物料A之間的頂面之段差小於一段差距離H1時，則該紀錄單元53判斷小於該段差距離H1的相鄰物料A之頂面位於同一層，藉此讓相鄰的物料A上方能夠擺放其他物料A，藉此增加物料A的擺放率。
Next, referring to FIGS. 6A to 6C , since the heights of the materials A are different, after the materials A are stacked in the stacking
再者，請參閱圖8，該立體影像偵測器51在偵測該入料區10的物料A尺寸後，會將物料A的長、寬、高分別增加一膨脹距離H2，該膨脹距離H2並無尺寸上的限制，且物料A的長、寬、高能夠分別設定不同數值的該膨脹距離H2，藉由設定該膨脹距離H2，使物料A堆置於該堆料區30時，能夠預留物料A之間的擺放空間，進而減少擺放時產生的干涉。
Furthermore, please refer to FIG. 8. After detecting the size of the material A in the
最後，請參閱圖9，該紀錄單元53在紀錄最底層排列的頂面面積，當紀錄單元53預計要將新的物料A堆疊於堆料區30中的另一個物料A上時，會確定堆料區30中的物料A之頂面積，與新堆疊的物料A之底面積差距，當堆料區30中的物料A之頂面積與新堆疊的物料A之底面積差距小於一差距面積H3時，則判斷新堆疊的物料A能夠堆疊於堆料區30中的物料A之頂面，藉由前述由紀錄單元53對底面積進行計算與匹配，進而讓新堆疊的物料A堆疊於堆料區30中的物料A能夠更穩定。
Finally, referring to FIG. 9 , the
值得一提的是，請參閱圖10A及圖10B，本案另透過該紀錄單元53運算即將進入堆料區30的物料A之切入方向，為防止物料A在堆疊的過程中，抓取元件40上的物料A在擺放於已存在於堆料區30的兩個物料A之間時，為防止抓取元件40上的物料A垂直進入兩個物料A之間，造成抓取元件40上的物料A與兩個物料A之間過度干涉，因此，該紀錄單元53在記錄物料A放置於堆料區30的位置後，另外當物料A即將進入兩個物料A之間時，選擇抓取元件40上的物料A與兩物料A之間發生最少干涉的方向進入，藉此使擺放的過程更加穩定。
It is worth mentioning that, please refer to FIG. 10A and FIG. 10B , in this case, the
再者，該中央處理模組50將該堆料區30沿著垂直方向區分成複數個放置層31A、31B、31C，在該中央處理模組50將該入料區10內的物料A以及該暫存區20內的物料A與堆料區30內的空置體積進行匹配時，若無產生任何一個置物點，則中央處理模組50會開始搜索下一個放置層31，並從相鄰的另一個放置層31匹配置物點。
Furthermore, the
當該中央處理模組50匹配將該入料區10內的物料A以及該暫存區20內的物料A經過該中央處理模組50匹配後，分別有該入料區10內的物料A以及該暫存區20內的物料A與堆料區30內的空置體積進行匹配，因而產生置物點。
When the
在另一實施例中，該初始化步驟S1時，物料A進入該入料區10，在本實施例中，該初始化步驟S1會從外部持續將物料A移動至該入料區10，每一次該入料區10會放置至少一個物料A，而該中央處理模組50根據紀錄判斷該入料區10是否放置有物料A，若無放置物料A，則該中央處理模組50驅動該抓取元件40將外部物料移動至空置的入料區10，反覆執行至入料區10存放有至少一個物料A後，則初始化步驟S1停止並進入下一步驟。
In another embodiment, during the initialization step S1, the material A enters the
該初始判斷步驟S2，該立體影像偵測器51偵測該入料區10存放有物料A，並將該入料區10的物料A尺寸傳輸至該紀錄單元53；在本實施例中，該初始判斷步驟S2同時儲存並計算該入料區10的物料A尺寸。
In the initial determination step S2, the
該空間判斷步驟S3，將該空間資訊傳輸至該紀錄單元53儲存；在本實施例中，該紀錄單元53將該空間資訊垂直區分為複數個放置層31。
In the spatial determination step S3 , the spatial information is transmitted to the
該放置點判斷步驟S4，定義該空間資訊中的其中一點為原點，以面積比對該入料區10的物料A尺寸及該空間資訊產生一入料放置點，該紀錄單元53取出該入料放置點距離該原點最接近者；在本實施例中，該放置點判斷步驟S4中透過該紀錄單元53從原點開始沿著長邊逐步搜索能夠放置該入料區10的物料A之位置，直到尋得第一個位置則視為該入料放置點。
The placement point determination step S4 defines one point in the spatial information as the origin, and generates a placement placement point based on the area ratio of the size of the material A in the
該驅動步驟S5，該控制單元54驅動該抓取元件40將最接近該原點的該入料放置點的物料A夾取並移動至該堆料區30；在本實施例中，該控制單元54驅動FANUC Robot型號M-20iD/25的機械手臂夾取該入料區10內的物料A，並將入料區10內的物料A移動至該入料放置點。
In the driving step S5, the
最後，在本實施例中該入料區10的數量可以為一個或複數個，雖然在本實施例的圖式中示意為一個入料區10，而該堆料區30僅有一個，卻透過
該中央處理模組50區分為多個該放置層31，而該入料區10的數量並不限於一個或二個，該入料區10的數量能夠根據需求調整。
Finally, in this embodiment, the number of the
值得一提的是，請參閱圖11，該紀錄單元53在記錄排列於堆料區30中的物料A時，當兩個物料A之間產生空間，然而，又有一物料A堆疊於二個物料A上方，使空間的四周同時被三個或三個以上之物料A所阻擋，造成抓取元件40無法將物料A放入，此時，紀錄單元53將忽略無效空間H4，藉由忽略無效空間H4以減少紀錄單元53運算的時間，進而提高運算效率。
It is worth mentioning that, please refer to FIG. 11 , when the
本案透過設置入料區10或暫存區20，並讓中央處理模組50記錄入料區10及暫存區20內的物料A尺寸，再由中央處理模組50的紀錄單元53選擇最適合堆疊於堆料區30的物料A，進而讓中央處理模組50能夠在每次堆疊過程中選擇最適合堆料區30當下剩餘空間的物料A尺寸，使堆疊結果更為緊密且穩固，不僅使堆疊完的堆料區30之物料A更為緊密且穩固，由於各物料A之間的空隙少，進而更節省堆疊空間而達成節省儲存成本的效果，大幅提升整體空間的利用率。
In this case, the
10:入料區 10: Feeding area
20:暫存區 20: Temporary storage area
30:堆料區 30: Stacking area
40:抓取元件 40: Grab components
50:中央處理模組 50: Central processing module
51:立體影像偵測器 51: Stereoscopic image detector
53:紀錄單元 53: Recording Unit
54:控制單元 54: Control unit
Claims (9)
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Citations (4)
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|---|---|---|---|---|
| US6286656B1 (en) * | 1996-11-26 | 2001-09-11 | United Parcel Service Of America, Inc. | Apparatus for measuring length of accumulated packages |
| TW201345795A (en) * | 2011-10-17 | 2013-11-16 | Symbotic Llc | Pallet building system |
| CN109775376A (en) * | 2018-12-29 | 2019-05-21 | 上海新时达机器人有限公司 | The robot de-stacking method of irregular random material |
| TWM619884U (en) * | 2021-05-21 | 2021-11-21 | 台灣發那科股份有限公司 | Stacking system capable of stacking materials of random sizes |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6286656B1 (en) * | 1996-11-26 | 2001-09-11 | United Parcel Service Of America, Inc. | Apparatus for measuring length of accumulated packages |
| TW201345795A (en) * | 2011-10-17 | 2013-11-16 | Symbotic Llc | Pallet building system |
| CN109775376A (en) * | 2018-12-29 | 2019-05-21 | 上海新时达机器人有限公司 | The robot de-stacking method of irregular random material |
| TWM619884U (en) * | 2021-05-21 | 2021-11-21 | 台灣發那科股份有限公司 | Stacking system capable of stacking materials of random sizes |
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