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

Detection system for objects stacking on pallet and method thereof Download PDF

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TWI776735B
TWI776735B TW110142358A TW110142358A TWI776735B TW I776735 B TWI776735 B TW I776735B TW 110142358 A TW110142358 A TW 110142358A TW 110142358 A TW110142358 A TW 110142358A TW I776735 B TWI776735 B TW I776735B
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pallet
predetermined arrangement
numbered
objects
module
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TW202322062A (en
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李政道
鄭恩碩
張賑桓
郭佳貞
陳俐吟
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國立虎尾科技大學
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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

棧板堆疊狀態檢測系統及其方法Pallet stacking state detection system and method

本發明係有關於一種系統及其方法，尤其是指一種棧板堆疊狀態檢測系統及其方法。The present invention relates to a system and a method thereof, in particular to a pallet stacking state detection system and a method thereof.

先前技術針對倉儲、製造、物流的過程中，物件於棧板上的堆疊擺放方式與計算，多數仰賴人工事先規劃、計算與搬運，而當物件改變時，便需要投入額外的人力重新規劃、計算與搬運，長期下來造成人力資源的浪費與人力成本的提高。在全球自動化的浪潮下，倉儲、製造、物流等相關過程的自動化更是有迫切的需求，因此，近年已漸漸出現將堆棧裝置取代人力搬運而應用於堆棧作業的情況，例如：機械手臂。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.

在進行堆棧的過程中，需要一層一層向上堆疊，若物件堆疊擺放位置錯誤，便會影響到整體的結構強度，甚至有可能倒塌產生安全問題，然而，先前技術採用堆棧裝置進行堆棧的過程中，並不具備安全性的即時檢測機制。因此，先前技術存在改善的空間。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.

有鑒於在先前技術中，需要利用人力規劃、計算與搬運所存在的人力資源浪費、人力成本提高及其衍生出的種種問題，以及採用堆棧裝置但不具備安全性的即時檢測機制所造成的擺放位置錯誤、結構強度不足、物件倒塌及其衍生出的種種問題。本發明之一主要目的係提供一種棧板堆疊狀態檢測系統，用以解決先前技術中的至少一個問題。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.

本發明為解決先前技術之問題，所採用之必要技術手段為提供一種棧板堆疊狀態檢測系統，係用以控制一堆棧裝置在一棧板上將複數個相同之物件排列在一排列平面上而成一物件層，藉以在K個上述排列平面上堆疊出K個上述物件層，包含一處理模組、一控制模組、一影像擷取模組、一檢測模組與一告警模組。處理模組接收棧板之一棧板長度與一棧板寬度以及接收每一物件之一物件長度與一物件寬度，並利用一內建規則，運算出Q個上述物件在每一奇數之物件層之至少一第一預定排列關聯參數，並運算出R個上述物件在每一偶數之物件層之至少一第二預定排列關聯參數。控制模組電性連接處理模組，用以在堆疊上述每一奇數之物件層前，依據第一預定排列關聯參數產生一第一控制信號，並用以在堆疊上述每一偶數之物件層前，依據第二預定排列關聯參數產生一第二控制信號，藉以控制堆棧裝置堆疊物件。影像擷取模組電性連接控制模組，用以在每一奇數之物件層堆疊排列完畢時，擷取一奇數層影像，在每一偶數之物件層堆疊排列完畢時，擷取一偶數層影像。檢測模組電性連接處理模組與影像擷取模組，用以將奇數層影像解析出至少一第一當前排列關聯參數，將偶數層影像解析出至少一第二當前排列關聯參數，在比對出第一當前排列關聯參數與第一預定排列關聯參數不符時，產生一第一異常信號；在比對出第二當前排列關聯參數與第二預定排列關聯參數不符時，產生一第二異常信號。告警模組電性連接檢測模組，用以在接收到第一異常信號或第二異常信號時，發出一告警信號。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.

本發明為解決先前技術之問題，所採用之必要技術手段為另外提供一種棧板堆疊狀態檢測系統，應用於一堆棧裝置，堆棧裝置係在一棧板上將複數個相同之物件排列在一排列平面上而成一物件層，藉以在K個上述排列平面上堆疊出K個上述物件層，堆棧裝置係依據一內建規則所運算出Q個上述物件在每一奇數之該物件層之至少一第一預定排列關聯參數，以及R個上述物件在每一偶數之該物件層之至少一第二預定排列關聯參數，以堆疊該些物件，棧板堆疊狀態檢測系統係包含一影像擷取模組、一檢測模組與一告警模組。影像擷取模組用以在每一奇數之該物件層堆疊排列完畢時，擷取一奇數層影像，在每一偶數之物件層堆疊排列完畢時，擷取一偶數層影像。檢測模組電性連接處理模組與影像擷取模組，用以將奇數層影像解析出至少一第一當前排列關聯參數，將偶數層影像解析出至少一第二當前排列關聯參數，在比對出第一當前排列關聯參數與第一預定排列關聯參數不符時，產生一第一異常信號；在比對出第二當前排列關聯參數與第二預定排列關聯參數不符時，產生一第二異常信號。告警模組電性連接檢測模組，用以在接收到第一異常信號或第二異常信號時，發出一告警信號。其中，第一預定排列關聯參數包含一第一預定排列位置組合，第二預定排列關聯參數包含一第二預定排列位置組合。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.

本發明為解決先前技術之問題，所採用之必要技術手段為另外提供一種棧板堆疊狀態檢測方法，利用如上述之棧板堆疊狀態檢測系統加以實施，並包含以下步驟：利用處理模組接收棧板長度、棧板寬度、物件長度與物件寬度，並運算出第一預定排列關聯參數與第二預定排列關聯參數；利用控制模組分別依據第一預定排列關聯參數與第二預定排列關聯參數產生第一控制信號與第二控制信號，藉以分別控制堆棧裝置堆疊物件；利用影像擷取模組分別擷取奇數層影像與偶數層影像；利用檢測模組分別將奇數層影像與偶數層影像解析出第一當前排列關聯參數與第二當前排列關聯參數，並在比對出第一當前排列關聯參數與第一預定排列關聯參數不符時，產生第一異常信號，在比對出第二當前排列關聯參數與第二預定排列關聯參數不符時，產生第二異常信號；利用告警模組在接收到第一異常信號或第二異常信號時，發出告警信號。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.

承上所述，本發明利用處理模組、控制模組、影像擷取模組、檢測模組與告警模組，控制堆棧裝置將物件堆疊擺放於棧板上。相較於先前技術，本發明利用處理模組運算出第一預定排列關聯參數與第二預定排列關聯參數，可以節省人力規劃與計算，在改變物件時，也可以迅速地運算出第一預定排列關聯參數與第二預定排列關聯參數；影像擷取模組、檢測模組與告警模組則可以在每一層物件層堆疊完畢時即時地擷取影像與檢測比對，並在出現異常時，即時地產生告警信號，藉以避免物件擺放錯誤而繼續往上堆疊所造成結構強度降低問題及其衍生出的倒塌、物件損壞及安全性的問題。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.

下面將結合示意圖對本發明的具體實施方式進行更詳細的描述。根據下列描述和申請專利範圍，本發明的優點和特徵將更清楚。需說明的是，圖式均採用非常簡化的形式且均使用非精準的比例，僅用以方便、明晰地輔助說明本發明實施例的目的。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.

請參閱第一圖至第三B圖，其中，第一圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統之方塊圖；第二圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統之使用環境示意圖；以及，第三A圖與第三B圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測方法之流程圖。如圖所示，一種棧板堆疊狀態檢測系統1用以控制一堆棧裝置2將複數個相同的物件O1、O2（第二圖繪製兩者示意）擺放堆疊在一棧板P上，並包含一處理模組11、一控制模組12、一影像擷取模組13、一檢測模組14、一告警模組15與一輸入模組16，其中，物件O1、O2是藉由一輸送裝置T輸送。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.

更詳細的說明，棧板堆疊狀態檢測系統1會控制堆棧裝置2在棧板P上將複數個相同的物件O1、O2排列在一排列平面上而成一物件層，藉以在K個上述的排列平面上堆疊出K個上述的物件層。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.

一種棧板堆疊狀態檢測方法係利用棧板堆疊狀態檢測系統1加給實施，並包含以下步驟S101至S113。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.

步驟S101：利用處理模組接收棧板之棧板長度與棧板寬度以及物件之物件長度與物件寬度。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.

步驟S102：利用處理模組依據內建規則運算出第一預定排列關聯參數與第二預定排列關聯參數。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.

處理模組11會接收棧板P的一棧板長度PL與一棧板寬度PW，以及接收物件O1、O2的一物件長度OL與一物件寬度OW，並會依據一內建規則，運算出Q個物件在每一奇數的物件層的至少一第一預定排列關聯參數，運算出R個物件在每一偶數的物件層的至少一第二預定排列關聯參數。其中，第一預定排列關聯參數至少包含一第一預定排列位置組合，第二預定排列關聯參數至少包含一第二預定排列位置組合，也就是物件的排列位置。輸入模組16則可以供一使用者輸入棧板長度PL、棧板寬度PW、物件長度OL與物件寬度OW。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.

舉例來說，棧板堆疊狀態檢測系統1控制堆棧裝置2將物件O1、O2堆疊於棧板P上，並堆疊出10個物件層（K=10）。此時，物件層中便會有5個奇數的物件層以及5個偶數的物件層，而層數是將最接近棧板P的物件層定義為第一層，並沿遠離棧板P的方向依序定義出第二層、第三層…等。在每個奇數的物件層中若有22個物件，則Q=22。在每個偶數的物件層中若有24個物件，則R=24。Q與R可以相同也可以不同。需說明的是，上述K、Q、R為數學定義中的代數，並非本案圖式中的符號。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.

步驟S103：利用控制模組依據第一預定排列關聯參數產生第一控制信號，並控制堆棧裝置在奇數之物件層堆疊物件。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.

控制模組12電性連接處理模組11，依據第一預定排列關聯參數產生第一控制信號，並控制堆棧裝置2在奇數的物件層上堆疊物件O1、O2。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.

步驟S104：利用影像擷取模組擷取奇數層影像。步驟S105：利用檢測模組將奇數層影像解析出第一當前排列關聯參數，並比對第一當前排列關聯參數與第一預定排列關聯參數。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.

影像擷取模組13電性連接控制模組12，並在堆棧裝置2在奇數的物件層上將物件O1、O2堆疊完畢時，擷取一奇數層影像。檢測模組14電性連接處理模組11與影像擷取模組13，用以將奇數層影像解析出至少一第一當前排列關聯參數，並比對第一當前排列關聯參數與第一預定排列關聯參數。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.

在本實施例中，檢測模組14係包含一剪裁單元141、一灰階單元142、一高斯模糊單元143與一邊緣偵測單元144，藉以解析及比對。一般來說，剪裁單元141係用以減少不必要的資料輸入，而將影像進行剪裁。灰階單元142同樣也是為了減少不必要的資料輸入，而將彩色的影像轉換為灰階的影像，常見的作法為結合彩色影像中的RGB、明亮度、對比、r值等參考條件，轉換為基本常見的灰階值（0至255），進而將彩色的影像轉換為灰階的影像。高斯模糊單元143則是用以減少影像的雜訊及降低細節層次，進而使得影像中的物件的邊緣特徵更加平滑，高斯模糊單元143可以視為是一個濾波器。邊緣偵測單元144則是利用上述邊緣特徵來分辨物件的邊緣，常用的方式有：Laplacian、Sobel、Canny等技術。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.

步驟S106：是否相符。因為目前為第一層，屬於奇數的物件層，因此，檢測模組14會比對奇數的物件層第一預定排列關聯參數與自奇數層影像解析出的第一當前排列關聯參數。簡單來說，檢測模組14就是判斷物件O1、O2的實際擺放位置與處理模組11所預先運算出的第一預定排列位置組合是否相同，並在判斷為是時，進入步驟S107；在判斷為否時，進入步驟S112。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.

步驟S107：是否滿足目標層數。本發明會判斷是否滿足目標層數，並在判斷為否時，進入步驟S108，表示仍需要進續堆疊下一層的物件；在判斷為是時，結束步驟，表示已堆疊完畢。本發明可以利用控制模組12或是其他具有判斷功能的模組進行判斷。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.

步驟S108：利用控制模組依據第二預定排列關聯參數產生第二控制信號，並控制堆棧裝置在偶數之物件層堆疊物件。步驟S109：利用影像擷取模組擷取偶數層影像。步驟S110：利用檢測模組將偶數層影像解析出第二當前排列關聯參數，並比對第二當前排列關聯參數與第二預定排列關聯參數。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.

第一層堆疊完畢後，控制模組12要開始在第二層堆疊物件，也就是偶數的物件層。第二層與第一層的堆疊原理相似，差異僅在於第二預定排列關聯參數、第二控制信號、偶數層影像、第二當前排列關聯參數，故不多加贅述。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.

步驟S111：是否相符。因為目前為第二層，屬於偶數的物件層，因此，檢測模組14會比對偶數的物件層的第二預定排列關聯參數與自偶數層影像解析出的第二當前排列關聯參數。簡單來說，檢測模組14就是判斷物件O1、O2的實際擺放位置與處理模組11所預先運算出的預定排列位置是否相同，並在判斷為否時，進入步驟S112；在判斷為是時，進入步驟S113。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.

步驟S112：利用告警模組發出告警信號。Step S112: Send an alarm signal by using an alarm module.

在比對不符時，檢測模組14會分別依據所對應的物件層產生一第一異常信號或一第二異常信號，其中，第一異常信號對應奇數的物件層，第二異常信號對應偶數的物件層。告警模組15在接收到第一異常信號或第二異常信號，都會發出告警信號，藉以即時性地告知目前的物件層的物件排列位置異常。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.

步驟S113：是否滿足目標層數。在判斷為是時，結束步驟；在判斷為否時，重新進入步驟S103。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.

接著，請一併參閱第一圖與第四圖至第七圖；其中，第四圖係顯示處理模組運算出第一預定排列關聯參數之示意圖；第五圖係顯示處理模組運算出另一第一預定排列關聯參數之過程示意圖；第六圖係顯示處理模組運算出另一第一預定排列關聯參數之示意圖；第七圖運算並標記又一第一預定排列關聯參數之示意圖。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.

在本實施例中，處理模組11包含一判斷單元111、一運算單元112、一單向排列單元113、一對稱排列單元114、一棧板分區單元115、一重疊判斷單元116、一重疊移除單元117、一鏡像單元118與一坐標標記單元119。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 .

判斷單元111依據棧板長度PL、棧板寬度PW、物件長度OL與物件寬度OW，判斷棧板P是否足以供物件O1、O2堆疊排列，並在判斷為是時產生一空間足夠信號，在判斷為否時產生一空間不足信號。判斷單元111就是判斷棧板P是否可以容納物件O1、O2。物件長度OL要小於棧板長度PL以及棧板寬度PW，且物件寬度OW也要小於棧板長度PL以及棧板寬度PW，判斷單元111才會產生空間足夠信號。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.

運算單元112電性連接判斷單元111，在接收到該空間足夠信號時，依據棧板長度PL、棧板寬度PW、物件長度OL與物件寬度OW，運算出物件的第一預定排列關聯參數與第二預定排列關聯參數。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.

舉例來說，棧板長度PL=31，棧板寬度PW=29，物件長度OL=7，物件寬度OW=3，運算單元112便會分別將棧板長度PL除以物件長度OL、棧板長度PL除以物件寬度OW、棧板寬度PW除以物件長度OL以及棧板寬度PW除以物件寬度OW，並產生如以下表一與表二。 棧板長邊 結果 可容納的物件長度OL 可容納的物件寬度OW 剩餘長度 一 0 10 1 二 1 8 0 三 2 5 2 四 3 3 1 五 4 1 0 表一 棧板寬邊 結果 可容納的物件長度OL 可容納的物件寬度OW 剩餘長度 一 0 9 2 二 1 7 1 三 2 5 0 四 3 5 2 五 4 0 1 表二 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

對稱排列單元114電性連接運算單元112，用以使部分物件的長邊平行一第一方向D1，另一部分物件的長邊平行一第二方向D2，且第一方向D1實質性地垂直第二方向D2。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.

棧板分區單元115電性連接對稱排列單元114，用以利用棧板長度PL、棧板寬度PW、物件長度OL與物件寬度OW將棧板P沿逆時鐘方向區分成一第一區域B1、一第二區域B2、一第三區域B3與一第四區域B4，第一區域B1具有一第一長度L1與一第一寬度W1，第二區域B2具有一第二長度L2與一第二寬度W2，第三區域B3與第一區域B1相等，第四區域B4與第二區域B2相等。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.

重疊判斷單元116依據第一長度L1、第一寬度W1、第二長度L2與第二寬度W2，判斷第一區域B1、一第二區域B2、一第三區域B3與一第四區域B4處於一重疊狀態或一非重疊狀態，並在處於非重疊狀態時供對稱排列單元114排列出第一預定排列位置組合與第二預定排列位置組合。重疊移除單元117電性連接重疊判斷單元116，用以在重疊狀態下時，產生一重疊移除結果，藉以供對稱排列單元114排列出第一預定排列位置組合與第二預定排列位置組合。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.

舉例說明，運算單元112會採用剩餘長度為0的結果進行搭配，即表一的結果二與結果五分別搭配表二的結果三，並產生第四圖與第六圖的兩種第一預定排列位置組合S1、S2。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.

在第四圖的第一預定排列位置組合S1中，第一區域B1是利用表一的結果二的可容納的物件長度OL（1）與表二的結果三的可容納的物件寬度OW（5）所形成，第二區域B2是利用表一的結果二的可容納的物件寬度OW（8）與表二的結果三的可容納的物件長度OL（2）所形成。從圖式可以明顯看出，第一區域B1、第二區域B2、第三區域B3與第四區域B4都未重疊，因此，重疊判斷單元116會判斷第一區域B1、第二區域B2、第三區域B3與第四區域B4處於一非重疊狀態。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.

在第五圖與第六圖中，第一區域B1是利用表一的結果五的可容納的物件長度OL（4）與表二的結果三的可容納的物件寬度OW（5）所形成，第二區域B2是利用表一的結果五的可容納的物件寬度OW（1）與表二的結果三的可容納的物件長度OL（2）所形成。從第五圖可以明顯看出，第一區域B1與第三區域B3彼此重疊，因此，重疊判斷單元116會判斷第一區域B1、第二區域B2、第三區域B3與第四區域B4處於重疊狀態。此時，第一預定排列位置組合以S2’表示。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'.

重疊移除單元117便會移除重疊的部分。重疊的部分可以視為是第一區域B1與第三區域B3內的虛擬物件彼此重疊，其中，虛擬物件是對應到實際的物件。重疊移除單元117可以在第一區域B1與第三區域B3由內向外各自移除重疊的虛擬物件，直到第一區域B1與第三區域B3內的虛擬物件沒有重疊的情形，也可以在單一區域（第一區域B1或第三區域B3）由內向外移除重疊的虛擬物件，直到第一區域B1與第三區域B3內的虛擬物件沒有重疊的情形。藉以供對稱排列單元114排列出第六圖的第一預定排列位置組合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.

因為不同的棧板長度PL、棧板寬度PW、物件長度OL、物件寬度OW，運算單元112也可能僅會產生一種搭配情形。可參閱第七圖，棧板長度PL=31、棧板寬度PW=29、物件長度OL=8、物件寬度OW=5，因為剩餘長度為0的情形僅會各有一種，因此，運算單元112僅會產生如第七圖的第一預定排列位置組合S3。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.

坐標標記單元119則是用以在第一預定排列位置組合S1~S3與第二預定排列位置組合中標記出每一虛擬物件的虛擬物件坐標，藉以使第一預定排列關聯參數與第二預定排列關聯參數更包含對應的虛擬物件坐標。另外，單向排列單元113則是讓所有物件的長邊都平行第一方向D1或是都平行第二方向D2，經由上述對於對稱排列單元114有第一方向D1與第二方向D2的說明，應可理解單向排列單元113僅有單一方向的情形。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.

請一併參閱第一圖、第二圖與第七圖至第十一圖；其中，第八圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統控制堆棧裝置在奇數之物件層堆疊物件之立體圖；第九圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統擷取奇數層影像之示意圖；第十圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統控制堆棧裝置在偶數之物件層堆疊物件之立體圖；以及，第十一圖係顯示本發明第一實施例所提供之棧板堆疊狀態檢測系統擷取偶數層影像之示意圖。如圖所示，控制模組12會控制堆棧裝置2在棧板P堆疊相同的物件。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.

在此以第七圖舉例說明。處理模組11產生的第一預定排列位置組合S3。坐標標記單元119會標記出所有虛擬物件V11、V12、V21、V22、V23、V24、V25、V26、V27、V28、V29、V31、V32、V41、V42、V43、V44、V45、V46、V47、V48、V49的虛擬物件坐標。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.

控制模組12會控制堆棧裝置2依照第一預定排列位置組合S3堆疊物件。第一區域B1包含虛擬物件V11與V12，堆棧裝置2便會依照虛擬物件V11與V12的虛擬物件坐標，堆疊物件O1與O2，使得物件O1與O2分別對應虛擬物件V11與V12。同理，堆棧裝置2會依據虛擬物件坐標，堆疊物件O3~O11以對應第二區域B2中的虛擬物件V21~V29，堆疊物件O12~O13以對應第三區域B3中的虛擬物件V31~V32，堆疊物件O14~O22以對應第四區域B4中的虛擬物件V41~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.

當堆棧裝置2堆疊完畢後，影像擷取模組13便會擷取一奇數層影像IM1，其中，奇數層影像IM1包含物件O1~O22所各自對應的物件影像I1~I22。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.

檢測模組14會比對物件影像I1~I22是否有各自與虛擬物件V11、V12、V21、V22、V23、V24、V25、V26、V27、V28、V29、V31、V32、V41、V42、V43、V44、V45、V46、V47、V48、V49相符。當彼此沒有相符時，檢測模組14便會產生第一異常信號，並利用告警模組15發出告警信號。因為物件O1~O22若沒有依照第一預定排列位置組合S3排列，便會影響到堆疊後的結構強度，甚至倒塌衍生出物件損壞或是其他安全性的問題。因此，告警模組15會發出告警信號告知目前物件O1~O22的排列位置存在異常。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.

當彼此相符並確認尚未滿足目標層數時，堆棧裝置2便會往第二層繼續堆疊物件。在本實施例中，鏡像單元118會將第一預定排列位置組合鏡像以形成第二預定排列位置組合以提升堆疊的結構強度。需說明的是，在此的鏡像是指將第一預定排列位置組合S3沿一對稱軸鏡像，對稱軸定義在虛擬物件V21、V24、V27、V31所共用的邊界旁邊，並且平行該邊界。因此，可以視為是將第一區域B1內的虛擬物件與第二區域B2互換，第三區域B3內的虛擬物件與第四區域B4互換。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.

可參閱第十圖，堆棧裝置2在第二層開始堆疊物件O23~O44。從圖式可以看出，物件O23~O31的擺放方式與物件O5~O11相同，物件O32~33的擺放方式與物件O1~O2相同。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.

當堆棧裝置2堆疊完畢後，影像擷取模組13便會擷取一偶數層影像IM2，其中，偶數層影像IM2包含物件O23~O44所各自對應的物件影像I23~I44。檢測模組14會比對物件影像I23~I44是否有各自與第二預定排列位置組合的虛擬物件相符。當彼此沒有相符時，檢測模組14便會產生第二異常信號，並利用告警模組15發出告警信號。需說明的是，相同的物件在此繪製為相同的實體物件，但不以此為限，相同的物件也可以是指相同外觀尺寸的包裝盒，而內含的內容物可以相同也可以不同，並不影響本發明的實施。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.

最後，請參閱第十二圖，第十二圖係顯示本發明第二實施例的方塊圖。如圖所示，一種棧板堆疊狀態檢測系統3應用於一堆棧裝置2a，並包含一影像擷取模組31、一檢測模組32與一告警模組33。與第一實施例不同，堆棧裝置2a本身會依據內建規則所運算出的第一預定排列關聯參數與第二預定排列關聯參數，以堆疊物件。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.

影像擷取模組31會在堆棧裝置2a堆疊排列完畢每一奇數的物件層時，擷取一奇數層影像，並在堆棧裝置2a堆疊排列完畢每一偶數的物件層時，擷取一偶數層影像。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.

檢測模組32電性連接影像擷取模組31，用以將奇數層影像解析出至少一第一當前排列關聯參數，將偶數層影像解析出至少一第二當前排列關聯參數，在比對出第一當前排列關聯參數與第一預定排列關聯參數不符時，產生一第一異常信號；在比對出第二當前排列關聯參數與第二預定排列關聯參數不符時，產生一第二異常信號。檢測模組32可以包含與第一實施例相同的一剪裁單元321、一灰階單元322、一高斯模糊單元323與一邊緣偵測單元324。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.

告警模組33電性連接檢測模組32，用以在接收到該第一異常信號或該第二異常信號時，發出一告警信號。相較於第一實施例，本實施例可以外接於現有的堆棧裝置2a，提升使用的通用性。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.

經由上述的說明，可以明顯得知，棧板堆疊狀態檢測系統中的棧板堆疊狀態是指物件堆疊於棧板上的狀態，並非只棧板本身的狀態。而第一實施例中的棧板堆疊狀態檢測系統除了檢測功能外，還多了控制堆棧裝置的功能。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.

綜上所述，本發明利用處理模組、控制模組、影像擷取模組、檢測模組與告警模組，控制堆棧裝置將物件堆疊擺放於棧板上。相較於先前技術，本發明利用處理模組運算出第一預定排列關聯參數與第二預定排列關聯參數，可以節省人力規劃與計算，在改變物件時，也可以迅速地運算出第一預定排列關聯參數與第二預定排列關聯參數；影像擷取模組、檢測模組與告警模組則可以在每一層物件層堆疊完畢時即時地擷取影像與檢測比對，並在出現異常時，即時地產生告警信號，藉以避免物件擺放錯誤而繼續往上堆疊所造成結構強度降低問題及其衍生出的倒塌、物件損壞及安全性的問題。此外，本發明的鏡像單元將第一預定排列關聯參數鏡像以形成第二預定排列關聯參數，可以進一步達到提升整體結構強度的功效。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.

藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。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:棧板堆疊狀態檢測系統 11:處理模組 111:判斷單元 112:運算單元 113:單向排列單元 114:對稱排列單元 115:棧板分區單元 116:重疊判斷單元 117:重疊移除單元 118:鏡像單元 119:坐標標記單元 12:控制模組 13,31:影像擷取模組 14,32:檢測模組 141,321:剪裁單元 142,322:灰階單元 143,323:高斯模糊單元 144,324:邊緣偵測單元 15,33:告警模組 16:輸入模組 2,2a:堆棧裝置 B1:第一區域 B2:第二區域 B3:第三區域 B4:第四區域 D1:第一方向 D2:第二方向 IM1:奇數層影像 IM2:偶數層影像 I1~I44:物件影像 L1:第一長度 L2:第二長度 O1~O44:物件 OL:物件長度 OW:物件寬度 P:棧板 PL:棧板長度 PW:棧板寬度 S101~S113:步驟 S1,S2,S2’,S3:第一預定排列位置組合 T:輸送裝置 V11,V12,V21,V22,V23,V24,V25,V26,V27,V28,V29,V31,V32,V41,V42,V43,V44,V45,V46,V47,V48,V49:虛擬物件 W1:第一寬度 W2:第二寬度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

第一圖係顯示本發明第一實施例之方塊圖； 第二圖係顯示本發明第一實施例之使用環境示意圖； 第三A圖與第三B圖係顯示本發明第一實施例之流程圖； 第四圖至第七圖係顯示本發明第一實施例之第一預定排列關聯參數之第一預定排列位置組合之示意圖； 第八圖係顯示本發明第一實施例之奇數之物件層堆疊物件之立體圖； 第九圖係顯示第八圖之奇數層影像之示意圖； 第十圖係顯示本發明第一實施例之偶數之物件層堆疊物件之立體圖； 第十一圖係顯示第十圖之偶數層影像之示意圖；以及 第十二圖係顯示本發明第二實施例之方塊圖。 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:棧板堆疊狀態檢測系統 1: Pallet stacking state detection system

11:處理模組 11: Processing modules

111:判斷單元 111: Judgment unit

112:運算單元 112: Operation unit

113:單向排列單元 113: Unidirectional arrangement unit

114:對稱排列單元 114: Symmetrical arrangement of units

115:棧板分區單元 115: Pallet partition unit

116:重疊判斷單元 116: Overlap Judgment Unit

117:重疊移除單元 117: Overlap removal unit

118:鏡像單元 118: Mirror unit

119:坐標標記單元 119: Coordinate marking unit

12:控制模組 12: Control module

13:影像擷取模組 13: Image capture module

14:檢測模組 14: Detection module

141:剪裁單元 141: Clipping unit

142:灰階單元 142: Grayscale unit

143:高斯模糊單元 143: Gaussian Blur Unit

144:邊緣偵測單元 144: Edge detection unit

15:告警模組 15: Alarm module

16:輸入模組 16: Input module

2:堆棧裝置 2: Stacking device

Claims (8)

一種棧板堆疊狀態檢測系統，係用以控制一堆棧裝置在一棧板上將複數個相同之物件排列在一排列平面上而成一物件層，藉以在K個上述排列平面上堆疊出K個上述物件層，包含： 一處理模組，係接收該棧板之一棧板長度與一棧板寬度以及接收每一物件之一物件長度與一物件寬度，並利用一內建規則，運算出Q個上述物件在每一奇數之該物件層之至少一第一預定排列關聯參數，並運算出R個上述物件在每一偶數之該物件層之至少一第二預定排列關聯參數； 一控制模組，係電性連接該處理模組，用以在堆疊上述每一奇數之該物件層前，依據該至少一第一預定排列關聯參數產生一第一控制信號，並用以在堆疊上述每一偶數之該物件層前，依據該至少一第二預定排列關聯參數產生一第二控制信號，藉以控制該堆棧裝置堆疊該些物件； 一影像擷取模組，係電性連接該控制模組，用以在每一奇數之該物件層堆疊排列完畢時，擷取一奇數層影像，在每一偶數之該物件層堆疊排列完畢時，擷取一偶數層影像； 一檢測模組，係電性連接該處理模組與該影像擷取模組，用以將該奇數層影像解析出至少一第一當前排列關聯參數，將該偶數層影像解析出至少一第二當前排列關聯參數，在比對出該至少一第一當前排列關聯參數與該至少一第一預定排列關聯參數不符時，產生一第一異常信號；在比對出該至少一第二當前排列關聯參數與該至少一第二預定排列關聯參數不符時，產生一第二異常信號；以及 一告警模組，係電性連接該檢測模組，用以在接收到該第一異常信號或該第二異常信號時發出一告警信號； 其中，該至少一第一預定排列關聯參數係至少包含一第一預定排列位置組合，該至少一第二預定排列關聯參數係至少包含一第二預定排列位置組合。 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. 如請求項1所述之棧板堆疊狀態檢測系統，其中，該處理模組包含： 一判斷單元，係依據該棧板長度、該棧板寬度、該物件長度與該物件寬度，判斷該棧板是否足以供該物件堆疊排列，並在判斷為是時產生一空間足夠信號，在判斷為否時產生一空間不足信號；以及 一運算單元，係電性連接該判斷單元，在接收到該空間足夠信號時，係依據該棧板長度、該棧板寬度、該物件長度與該物件寬度，運算出該些物件之該至少一第一預定排列關聯參數與該至少一第二預定排列關聯參數。 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. 如請求項2所述之棧板堆疊狀態檢測系統，其中，該處理模組更包含一對稱排列單元，該對稱排列單元係電性連接該運算單元，用以使部分物件之長邊平行一第一方向，另一部分物件之長邊平行一第二方向，且該第一方向係實質性地垂直該第二方向。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. 如請求項3所述之棧板堆疊狀態檢測系統，其中，該處理模組更包含： 一棧板分區單元，係電性連接該對稱排列單元，用以利用該棧板長度、該棧板寬度、該物件長度與該物件寬度將該棧板沿一逆時鐘方向區分成一第一區域、一第二區域、一第三區域與一第四區域，該第一區域具有一第一長度與一第一寬度，該第二區域具有一第二長度與一第二寬度，該第三區域係與該第一區域相等，該第四區域係與該第二區域相等； 一重疊判斷單元，係電性連接該棧板分區單元，依據該第一長度、該第一寬度、該第二長度、該第二寬度，判斷該第一區域、該第二區域、該第三區域與該第四區域處於一重疊狀態或一非重疊狀態，並在處於該非重疊狀態時供該對稱排列單元排列出該第一預定排列位置組合與該第二預定排列位置組合；以及 一重疊移除單元，係電性連接該重疊判斷單元，用以在該重疊狀態下時，產生一重疊移除結果，藉以供該對稱排列單元排列出該第一預定排列位置組合與該第二預定排列位置組合。 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. 如請求項1所述之棧板堆疊狀態檢測系統，其中，該處理模組更包含一鏡像單元，該鏡像單元係將該第一預定排列位置組合鏡像以形成該第二預定排列位置組合。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. 如請求項1所述之棧板堆疊狀態檢測系統，其中，該處理模組更包含一坐標標記單元，該坐標標記單元係用以標記出複數個對應該些物件之虛擬物件坐標，藉以使該至少一第一預定排列關聯參數與該至少一第二預定排列關聯參數更包含對應之虛擬物件坐標。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. 一種棧板堆疊狀態檢測系統，係應用於一堆棧裝置，該堆棧裝置係在一棧板上將複數個相同之物件排列在一排列平面上而成一物件層，藉以在K個上述排列平面上堆疊出K個上述物件層，該堆棧裝置係依據一內建規則所運算出Q個上述物件在每一奇數之該物件層之至少一第一預定排列關聯參數，以及R個上述物件在每一偶數之該物件層之至少一第二預定排列關聯參數，以堆疊該些物件，該棧板堆疊狀態檢測系統係包含： 一影像擷取模組，係用以在每一奇數之該物件層堆疊排列完畢時，擷取一奇數層影像，在每一偶數之該物件層堆疊排列完畢時，擷取一偶數層影像； 一檢測模組，係電性連接該影像擷取模組，用以將該奇數層影像解析出至少一第一當前排列關聯參數，將該偶數層影像解析出至少一第二當前排列關聯參數，在比對出該至少一第一當前排列關聯參數與該至少一第一預定排列關聯參數不符時，產生一第一異常信號；在比對出該至少一第二當前排列關聯參數與該至少一第二預定排列關聯參數不符時，產生一第二異常信號；以及 一告警模組，係電性連接該檢測模組，用以在接收到該第一異常信號或該第二異常信號時發出一告警信號； 其中，該至少一第一預定排列關聯參數係至少包含一第一預定排列位置組合，該至少一第二預定排列關聯參數係至少包含一第二預定排列位置組合。 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. 一種棧板堆疊狀態檢測方法，係利用如請求項1所述之棧板堆疊狀態檢測系統加以實施，並包含以下步驟： (a) 利用該處理模組接收該棧板長度、該棧板寬度、該物件長度與該物件寬度，並運算出該至少一第一預定排列關聯參數與該至少一第二預定排列關聯參數； (b) 利用該控制模組分別依據該至少一第一預定排列關聯參數與該至少一第二預定排列關聯參數產生該第一控制信號與該第二控制信號，藉以分別控制該堆棧裝置堆疊該些物件； (c) 利用該影像擷取模組分別擷取該奇數層影像與該偶數層影像； (d) 利用該檢測模組分別將該奇數層影像與該偶數層影像解析出該至少一第一當前排列關聯參數與該至少一第二當前排列關聯參數，並在比對出該至少一第一當前排列關聯參數與該至少一第一預定排列關聯參數不符時，產生該第一異常信號，在比對出該至少一第二當前排列關聯參數與該至少一第二預定排列關聯參數不符時，產生該第二異常信號； (e) 利用該告警模組在接收到該第一異常信號或該第二異常信號時，發出該告警信號。 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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