System and method for automatically calculating strapping position of glass stack

Abstract

The invention discloses a system and a method for automatically calculating a strapping position of a glass stack. The system includes: a visual inspection unit that acquires an image of a tray carrying the glass stack, the tray having N legs, N being an integer, and 1 < N, detects the legs of the tray in the image, and generates data representing positions of the legs; and a column foot size calculation unit, a column foot type determination unit, a column foot gap determination unit, and a strapping position determination unit, wherein the column foot size calculation unit, the column foot size calculation unit, the column foot gap determination unit, and the strapping position determination unit perform recursive processing on a plurality of the column feet in the N column feet.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment, and in particular relates to a system and method for automatically calculating a strapping position of a glass stack. Background Art

[0002] After the photovoltaic glass is further processed, it is stacked horizontally on a pallet by a stacker. When the stacked photovoltaic glass reaches the set number, the stacking is completed and it can be sent to the customer's site. In order to facilitate subsequent transportation, the glass stack needs to be packaged, that is, protective plates are placed according to the position of the pallet column feet, and a piercing machine is used to thread steel strips to fix the glass stack to complete the packaging. Specifically, the piercing machine threads steel strips at the strapping position to fix the glass stack. The calculation of the strapping position of the glass stack can be roughly divided into two types of calculations for iron pallets and wooden pallets. The calculation method of the strapping position of the iron pallet is as follows: when the distance between the two column feet of the iron pallet is greater than, for example, 40 mm, and the piercing head can pass through the middle of the two column feet, the strapping is performed at the position between the two column feet; when the distance between the two column feet is less than, for example, 40 mm, the two column feet are merged into one column foot for processing, and the strapping position is the position of the merged column foot plus an offset. This offset can be adjusted according to actual needs. The calculation method for the strapping position of a wooden pallet is as follows: the strapping position is the position of each column foot of the wooden pallet plus an offset, and for the last strapping position of the wooden pallet, the last strapping position is the front end position of the last column foot minus an offset. In addition, all offsets can also be adjusted according to actual needs. Figure 1 This is an example of strapping an iron pallet. Figure 2 The following diagram shows an example of strapping a wooden pallet. The current method for automatically calculating strapping positions can be summarized as follows: (1) creating a new data storage area in the PLC, pre-entering the known pallet type, and entering the position of each column foot and the strapping position; (2) using vision technology to measure the column foot dimensions of the pallets being used on the production line. After the measurement is completed, the column foot position data is sent to the PLC via Modbus TCP. Figure 3 The column foot data for a certain type of iron pallet, the array is used to store the column foot position data. When the PLC receives the column foot position data, it first calculates the number of column feet in the width and length directions, and then searches the data storage area for the pallet type with the same number of column feet. After that, the column foot positions of all pallets with the same number of column feet are extracted and compared with the column foot positions of the pallets on the current production line. If the deviation values ​​of all column foot positions are within the preset range, it is considered that the pallet type is found, and the strapping is performed according to the pre-entered strapping position for the pallet type. The flowchart of the current strapping position calculation method can be as follows: Figure 4As shown in . In the existing technology, the method for calculating the strapping position requires the pallet's column foot position and the strapping position to be entered in advance. Then, based on the type of pallet being used on the production line, a query is performed in the pallet data storage area. The strapping position can only be calculated when a pallet of that type exists in the data access area. Since most of the pallets in today's glass production companies are rented, there are many types of pallets. When a new type of pallet appears, if the relevant data of the pallet is not entered in advance, the production line will not work. Therefore, it is necessary to find a method that can automatically calculate the strapping position based on the pallet's column foot position without having to enter the pallet type in advance. Summary of the Invention

[0003] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] According to one aspect of the present invention, a system for automatically calculating the strapping position of a glass stack is provided, wherein the system comprises:

[0005] a visual inspection unit that acquires an image of a pallet, detects a foot of the pallet in the image, and generates data indicating a position of the foot, wherein the pallet carries the stack of glass and has N foots, where N is an integer and 1<N; and

[0006] a column foot size calculation unit, a column foot type determination unit, a column foot gap determination unit, and a taping position determination unit, wherein the column foot size calculation unit, the column foot type determination unit, the column foot gap determination unit, and the taping position determination unit recursively process a plurality of the N column foots;

[0007] The recursive processing includes:

[0008] The column foot size calculation unit calculates the column foot size of the Mth column foot based on the data representing the position of the Mth column foot generated by the visual detection unit, where M is an integer and 1≦M≦N;

[0009] The column foot type determining unit determines, based on the column foot size of the Mth column foot calculated by the column foot size calculating unit, whether the column foot size of the Mth column foot falls within a single column foot size range; if the column foot size of the Mth column foot falls within the single column foot size range, then the type of the Mth column foot is determined to be a single column foot; if the column foot size of the Mth column foot does not fall within the single column foot size range, then the unit determines whether the column foot size of the Mth column foot falls within a double column foot size range; if the column foot size of the Mth column foot falls within the double column foot size range, then the unit determines that the type of the Mth column foot is a double column foot;

[0010] The column foot gap determining unit, when the column foot type determining unit determines that the type of the Mth column foot is a double column foot, obtains the data indicating the position of the M+1th column foot generated by the visual detection unit, and determines the gap between the Mth column foot and the M+1th column foot based on the data indicating the position of the Mth column foot and the data indicating the position of the M+1th column foot;

[0011] The strapping position determination unit performs the following operations:

[0012] When the column foot type determination unit determines that the type of the M-th column foot is a single column foot, the taping position is determined to be offset from the position of the M-th column foot by a predetermined distance;

[0013] When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is smaller than a predetermined threshold, the Mth column foot and the M+1th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by the predetermined distance;

[0014] When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is greater than or equal to the predetermined threshold, the taping position is determined to be the middle position between the Mth column foot and the M+1th column foot;

[0015] The system also includes a recursive processing control unit, which controls the recursive processing of each of the column foot size calculation unit, the column foot type determination unit, the column foot gap determination unit, and the tape position determination unit based on the judgment result of the column foot type determination unit.

[0016] The system for automatically calculating the strapping position of the glass stack does not require the pallet type and the related column foot positions to be entered in advance. The strapping position of the glass stack can be automatically calculated in a recursive manner, thereby avoiding the situation where the strapping position of the glass stack cannot be calculated due to the lack of pre-entered pallet and column foot data.

[0017] Preferably, the recursive processing control unit is configured to: when the column base type determination unit determines that the type of the Mth column base is a single column base, the recursive processing control unit determines whether M is equal to N; if M is not equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the taping position determination unit continue to perform the recursive processing on the M+1th column base; if M is equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the taping position determination unit terminate processing;

[0018] When the column base type determination unit determines that the type of the Mth column base is a double column base, the recursive processing control unit determines whether M+2 is equal to N. If M+2 is not equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the strapping position determination unit continue to perform the recursive processing on the M+2th column base. If M+2 is equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the strapping position determination unit end the processing.

[0019] The system described above automatically calculates the location of glass stack strapping, utilizing this method to automatically calculate the location of glass stack strapping. This method not only significantly improves production line efficiency but also significantly reduces the time and labor costs associated with manually entering the pallet type. Furthermore, by taking into account the specific dimensions and location of each column foot, strapping locations can be calculated flexibly and in a manner that meets actual needs.

[0020] Preferably, the data indicating the position of the column foot includes at least data indicating the position of the front end of the column foot and data indicating the position of the rear end of the column foot. The column foot size calculation unit calculates the column foot size of the Mth column foot by subtracting the data indicating the position of the front end of the Mth column foot from the data indicating the position of the rear end of the Mth column foot.

[0021] Through intelligent identification and processing, it can automatically adapt to different pallet types and accurately calculate the strapping position, thus ensuring the continuity and stability of the production process.

[0022] Preferably, the column foot gap determination unit subtracts data representing the rear end position of the Mth column foot from data representing the front end position of the M+1th column foot to determine the gap between the Mth column foot and the M+1th column foot.

[0023] By taking into account the gap between two adjacent column feet, the automatic calculation system for the glass stack strapping position is also highly flexible and scalable. It can adapt to various new types of pallets that may appear in the future without the need for tedious manual adjustments and settings, further improving the adaptability and competitiveness of the production line.

[0024] Preferably, when the column foot type determination unit determines that the type of the Mth column foot is a single column foot, and M is not equal to N, the strapping position determination unit determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance, or the strapping position determination unit determines the strapping position as offset from the rear end position of the Mth column foot by the predetermined distance; when the column foot type determination unit determines that the type of the Mth column foot is a single column foot, and M is equal to N, the strapping position determination unit determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance. Since the strapping position on the pallet directly affects the stress state of the strapping, the selection of the strapping position is crucial. According to the type of column foot and the specific position of the column foot, the preferred strapping position is selected to ensure that the strapping is evenly stressed, thereby ensuring the safety of the goods during transportation. By setting the strapping position to the front end of the column foot minus an offset, or to the rear end of the column foot plus an offset, according to actual needs (for example, according to the type and specific position of the column foot, the type of pallet, and the way the glass stack is placed), a different strapping position can be selected for each single column foot, and the stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation. In addition, when the column foot is the last column foot, the strapping position determination unit determines the strapping position to be offset from the front end of the last column foot by a predetermined distance, thereby ensuring that the strapping position at the last column foot can also achieve the strapping firmly fixing the glass stack, and the strapping will not fall off due to the last strapping position being too close to the edge of the pallet.

[0025] When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is smaller than the predetermined threshold, and M+1 is not equal to N, the strapping position determination unit determines the strapping position to be offset from the front end position of the combined column foot by the predetermined distance, or the strapping position determination unit determines the strapping position to be offset from the rear end position of the combined column foot by the predetermined distance;

[0026] When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is equal to N, the strapping position determination unit determines the strapping position as being offset by a predetermined distance from the front end position of the combined column foot.

[0027] This system automatically calculates the strapping position for glass stacks based on the size and position of the specific legs of the pallets being used on the production line. It accurately identifies the leg type and calculates the appropriate strapping position based on the leg type and position. This system can adapt to a variety of pallet types and accurately calculate strapping positions. Because the strapping position on the pallet directly affects the stress applied to the strapping, the selection of the strapping position is crucial. The optimal strapping position is selected based on the leg type, position, and gap between the legs to ensure uniform strapping force, thereby ensuring the safety of the goods during transportation. By setting the strapping position to the front position of the combined column foot minus an offset, or the rear position of the combined column foot plus an offset, according to actual needs (e.g., according to the type of column foot, the specific position of the column foot, the gap between the two column feet, the type of pallet, and the arrangement of the glass stack), different strapping positions can be selected for each pair of column feet, and the stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation. In addition, when the second column foot (i.e., the M+1th column foot) in the pair of column feet is the last column foot, the strapping position determination unit determines the strapping position to be offset from the front position of the Mth column foot by a predetermined distance, thereby ensuring that, when the second column foot in the pair of column feet is the last column foot, the last strapping position can also achieve the strapping securely fixing the glass stack without the strapping falling off due to the last strapping position being too close to the edge of the pallet.

[0028] According to another aspect of the present invention, a method for automatically calculating the strapping position of a glass stack is provided, wherein the method comprises:

[0029] a visual inspection step of acquiring an image of a pallet, detecting the legs of the pallet in the image, and generating data indicating the positions of the legs, wherein the pallet carries the glass stack and has N legs, where N is an integer and 1<N; and

[0030] A recursive processing step, wherein the recursive processing step recursively processes a plurality of the N column feet, and the recursive processing comprises the following sub-steps:

[0031] a column foot size calculation substep of calculating the column foot size of the Mth column foot based on the data representing the position of the Mth column foot generated in the visual detection step, wherein M is an integer and 1≦M≦N;

[0032] a column foot type determination sub-step, based on the column foot size of the Mth column foot calculated in the column foot size calculation sub-step, determining whether the column foot size of the Mth column foot falls within a single column foot size range; if the column foot size of the Mth column foot falls within the single column foot size range, determining that the type of the Mth column foot is a single column foot; if the column foot size of the Mth column foot does not fall within the single column foot size range, determining whether the column foot size of the Mth column foot falls within a double column foot size range; if the column foot size of the Mth column foot falls within the double column foot size range, determining that the type of the Mth column foot is a double column foot;

[0033] a column foot gap determination substep, in which, if the column foot type determination substep determines that the type of the Mth column foot is a double column foot, data indicating the position of the M+1th column foot generated by the visual detection step is obtained, and based on the data indicating the position of the Mth column foot and the data indicating the position of the M+1th column foot, a gap between the Mth column foot and the M+1th column foot is determined;

[0034] The tape position determination sub-step is to determine the tape position based on the judgment result of the column foot type determination sub-step, wherein:

[0035] The strapping position determination sub-step includes the following items:

[0036] In the column foot type determination sub-step, when it is determined that the type of the M-th column foot is a single column foot, the strapping position is determined to be offset from the position of the M-th column foot by a predetermined distance;

[0037] If, in the column foot type determination substep, it is determined that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than a predetermined threshold, the Mth column foot and the M+1th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by the predetermined distance;

[0038] If, in the column foot type determination substep, it is determined that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is greater than or equal to the predetermined threshold, the taping position is determined to be the middle position between the Mth column foot and the M+1th column foot;

[0039] The method also includes a recursive processing control step, which controls the recursive processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step based on the judgment result of the column foot type determination sub-step.

[0040] By using the above-mentioned method for automatically calculating the strapping position of the glass stack, it is not necessary to enter the pallet type and the related column foot position in advance. The strapping position of the glass stack can be automatically calculated in a recursive manner, thereby avoiding the situation where the strapping position of the glass stack cannot be calculated due to the lack of pre-entered pallet and column foot data.

[0041] Preferably, the recursive processing control step includes the following:

[0042] If the column foot type determination sub-step determines that the type of the M-th column foot is a single column foot, determine whether M is equal to N. If M is not equal to N, continue the recursive processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the taping position determination sub-step for the M+1-th column foot. If M is equal to N, terminate the processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the taping position determination sub-step.

[0043] In the case where the column foot type determination sub-step determines that the type of the Mth column foot is a double column foot, determine whether M+2 is equal to N. If M+2 is not equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step continue to perform the recursive processing on the M+2th column foot. If M+2 is equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step end processing.

[0044] The above-mentioned method for automatically calculating the strapping position of a glass stack not only significantly improves production line efficiency but also significantly reduces the time and labor costs associated with manually entering the pallet type. Furthermore, by considering the specific dimensions and position of each column foot, the strapping position can be calculated flexibly and in a manner that meets actual needs.

[0045] Preferably, the data representing the position of the column foot includes at least data representing the front end position of the column foot and data representing the rear end position of the column foot, and the column foot size calculation sub-step subtracts the data representing the front end position of the Mth column foot from the data representing the rear end position of the Mth column foot to calculate the column foot size of the Mth column foot.

[0046] Through intelligent identification and processing, it can automatically adapt to different pallet types and accurately calculate the strapping position, thus ensuring the continuity and stability of the production process.

[0047] Preferably, the column foot gap determination sub-step subtracts the data representing the rear end position of the Mth column foot from the data representing the front end position of the M+1th column foot to determine the gap between the Mth column foot and the M+1th column foot.

[0048] By taking into account the gap between two adjacent column feet, the automatic calculation method for the glass stack strapping position is also highly flexible and scalable. It can adapt to various new types of pallets that may appear in the future without the need for tedious manual adjustments and settings, further improving the adaptability and competitiveness of the production line.

[0049] Preferably, when the column foot type determination substep determines that the type of the Mth column foot is a single column foot, and M is not equal to N, the strapping position determination substep determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance, or the strapping position determination substep determines the strapping position as offset from the rear end position of the Mth column foot by the predetermined distance; when the column foot type determination substep determines that the type of the Mth column foot is a single column foot, and M is equal to N, the strapping position determination substep determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance. Since the strapping position on the pallet directly affects the stress state of the strapping, the selection of the strapping position is crucial. According to the type of column foot and the specific position of the column foot, the preferred strapping position is selected to ensure that the strapping is evenly stressed, thereby ensuring the safety of the goods during transportation. By setting the strapping position to the front end of the column foot minus an offset, or to the rear end of the column foot plus an offset, according to actual needs (for example, according to the type and specific position of the column foot, the type of pallet, and the way the glass stack is placed), a different strapping position can be selected for each single column foot, and the stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation. In addition, when the column foot is the last column foot, the strapping position determination unit determines the strapping position to be offset from the front end of the last column foot by a predetermined distance, thereby ensuring that the strapping position at the last column foot can also achieve the strapping firmly fixing the glass stack, and the strapping will not fall off due to the last strapping position being too close to the edge of the pallet.

[0050] If the column foot type determination substep determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is not equal to N, the strapping position determination substep determines the strapping position to be offset from the front end position of the combined column foot by the predetermined distance, or the strapping position determination substep determines the strapping position to be offset from the rear end position of the combined column foot by the predetermined distance;

[0051] In the column foot type determination sub-step, when it is determined that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is equal to N, the strapping position determination sub-step determines the strapping position as being offset by a predetermined distance from the front end position of the combined column foot.

[0052] This method for automatically calculating the strapping position for a glass stack accurately identifies the type of foot based on the size and position of the specific foot on the pallet being used on the production line. Based on the foot type and specific position, it calculates the appropriate strapping position for that specific foot. This method can accommodate a variety of pallet types and accurately calculate the strapping position. Because the strapping position on the pallet directly affects the stress applied to the strapping, the selection of the strapping position is crucial. The optimal strapping position is selected based on the foot type, specific position, and the gap between the two footings to ensure uniform stress on the strapping, thereby ensuring the safety of the goods during transportation. By setting the strapping position to the front position of the combined column foot minus an offset, or the rear position of the combined column foot plus an offset, according to actual needs (e.g., according to the type of column foot, the specific position of the column foot, the gap between the two column feet, the type of pallet, and the arrangement of the glass stack), different strapping positions can be selected for each pair of column feet, and the stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation. In addition, when the second column foot (i.e., the M+1th column foot) in the pair of column feet is the last column foot, the strapping position determination unit determines the strapping position to be offset from the front position of the Mth column foot by a predetermined distance, thereby ensuring that, when the second column foot in the pair of column feet is the last column foot, the last strapping position can also achieve the strapping securely fixing the glass stack without the strapping falling off due to the last strapping position being too close to the edge of the pallet.

[0053] Through the technical solution of the present invention, the following technical effects are achieved: the use of a method for automatically calculating the strapping position of a glass stack can not only significantly improve the production efficiency of the production line, but also greatly reduce the time and labor costs required for manually entering the pallet type each time; through intelligent recognition and processing, it can automatically adapt to different pallet types and accurately calculate the strapping position, thereby ensuring the continuity and stability of the production process; it also has a high degree of flexibility and scalability, and can adapt to various new pallet types that may appear in the future without the need for tedious manual adjustments and settings, further improving the adaptability and competitiveness of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0055] Figure 1 This is an example of strapping an iron pallet.

[0056] Figure 2 This is an example of strapping a wooden pallet.

[0057] Figure 3 It's some kind of Tito type Tito data.

[0058] Figure 4 1 is a flowchart showing a conventional method for calculating a tape position.

[0059] Figure 5 FIG. 4 is a schematic block diagram illustrating a system for automatically calculating the strapping position of a glass stack according to an embodiment of the present invention.

[0060] Figure 6 FIG. 4 is a schematic block diagram illustrating a recursive algorithm adopted by a system for automatically calculating strapping positions of a glass stack according to an embodiment of the present invention.

[0061] Figure 7 FIG. 4 is a schematic flow chart illustrating a method for automatically calculating the strapping position of a glass stack according to an embodiment of the present invention.

[0062] Reference numerals:

[0063] 104:Iron Tray

[0064] 102: Glass Stack

[0065] 106-1, 106-2, 106-3: Tape location

[0066] 204:Wooden Pallet

[0067] 202: Glass Stack

[0068] 206-1, 206-2, 206-3, 206-4: Tape location

[0069] 304:Iron tray

[0070] 302: Glass Stack

[0071] 306 to 328: Data indicating the front and rear positions of each column foot

[0072] 50: System for automatically calculating the strapping position of glass stacks

[0073] 502: Visual inspection unit

[0074] 504: Column foot size calculation unit

[0075] 506: Column base type determination unit

[0076] 508: Column foot clearance determination unit

[0077] 510: Tape position determination unit

[0078] 512: Recursive processing control unit

[0079] 702: Visual inspection step

[0080] 704: Recursive processing step

[0081] 706: Recursive processing control step DETAILED DESCRIPTION

[0082] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0083] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or steps is not necessarily limited to those steps or steps explicitly listed, but may include other steps or steps that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0084] For ease of understanding, let's first briefly introduce the meaning and function of the glass stack's strapping position:

[0085] Pallets are the fundamental packaging unit in the logistics industry and a crucial link in the logistics chain. As carriers for both transportation and storage, pallets require plastic strapping to prevent movement during transport. The location of the straps on the pallet directly affects the stress distribution of the straps, making the selection of strapping locations crucial. Currently, strapping locations are primarily selected manually. The straps are then manually placed on the pallet and positioned based on the pallet type and cargo layout to ensure uniform stress distribution across the straps, thereby ensuring cargo safety during transport. However, this manual selection method presents several challenges. First, pallets vary in type and complexity, with different pallet types having different foot layouts. This necessitates the need to select strapping locations tailored to each pallet type, making the manual selection process cumbersome. Second, due to the subjective nature and empirical nature of manual operation, different operators may choose different strapping locations, resulting in inconsistent stress distribution across the straps and compromising cargo safety. Thirdly, changes in the type of pallet and the way the goods are placed will lead to changes in the selection of the strapping position, which requires the operator to constantly adjust the strapping position, increasing the complexity and time cost of the operation. Finally, due to the limitations of manual operation, the selection of the strapping position may be somewhat random and accidental, and the accuracy and consistency of the strapping position cannot be guaranteed. In addition, although as mentioned above, there is a method of determining the strapping position by entering known pallet types in advance, since the pallets of glass production companies are now rented, there are many types of pallets. When a new type of pallet appears, if the relevant data of the pallet is not entered in advance, the production line will not work. Therefore, how to provide an automatic strapping position calculation method suitable for various pallets is a problem that needs to be solved by those skilled in the art.

[0086] Figure 1This is an example of strapping an iron pallet. Figure 1 As shown, a glass stack 102 is carried on an iron tray 104, and the iron tray 104 has column feet A, B, C, D, E, and F. When the distance between the A and B column feet is greater than, for example, 40 mm, and the piercing head can pass through the middle, a banding 106-1 is performed in the middle of the two column feet. When the distance between the C and D column feet is greater than, for example, 40 mm, and the piercing head can pass through the middle, a banding 106-2 is performed in the middle of the two column feet. When the distance between the E and F column feet is greater than, for example, 40 mm, and the piercing head can pass through the middle, a banding 106-3 is performed in the middle of the two column feet. Although Figure 1 The example in Figure 2 shows the tape being applied midway between two adjacent column feet. However, there may be situations where the distance between two adjacent column feet is less than, for example, 40 mm. In this case, column feet A and B are combined into one column foot, and the tape is applied at the combined position plus an adjustable offset. Similarly, column feet C and D are combined into one column foot, and the tape is applied at the combined position plus an adjustable offset. Similarly, column feet E and F are combined into one column foot, and the tape is applied at the combined position plus an adjustable offset.

[0087] Figure 2 This is an example of strapping a wooden pallet. Figure 2 As shown, a glass stack 202 is carried on a wooden pallet 204, and the wooden pallet 204 has column feet A', B', C', and D'. The taping position of the wooden pallet 204 is the position of each column foot plus an offset. For example, the first taping position of the wooden pallet is the rear end position of column foot A' plus an offset, and thus taping 206-1 is performed at this position. For example, the second taping position of the wooden pallet is the front end position of column foot B' minus an offset, and thus taping 206-2 is performed at this position. For example, the third taping position of the wooden pallet is the rear end position of column foot C' plus an offset, and thus taping 206-3 is performed at this position. The last taping position of the wooden pallet (i.e., the fourth taping position) is the front end position of column foot D' minus an offset, and thus taping 206-4 is performed at this position. Those skilled in the art will understand that all offsets can be adjusted according to actual needs.

[0088] Figure 3 The column foot position data of a certain type of iron pallet. For example, Figure 3 for Figure 1 The iron tray 304 carries the glass stack 302, and the iron tray 304 has the following features: Figure 1Columns A, B, C, D, E, and F are shown in FIG. 306 represents the data for the front position of column A. 308 represents the data for the rear position of column A. 310 represents the data for the front position of column B. 312 represents the data for the rear position of column B. 314 represents the data for the front position of column C. 316 represents the data for the rear position of column C. 318 represents the data for the front position of column D. 320 represents the data for the rear position of column D. 322 represents the data for the front position of column E. 324 represents the data for the rear position of column E. 326 represents the data for the front position of column F. 328 represents the data for the rear position of column F. After the PLC receives data 306 to 328, it first calculates the number of columns in the width and length directions, and then searches the data storage area for a pallet type with the same number of columns. The column foot positions of all pallets with the same number of columns are extracted and compared with the column foot positions of the pallets on the current production line. If the deviation values ​​of all column foot positions are within the preset range, the pallet is considered to be found, and the strapping is performed according to the pre-entered strapping position for the pallet.

[0089] Figure 4 FIG. 1 is a flow chart showing a conventional method for calculating the tape position. Figure 4 As shown, in step 402, the number of column feet is calculated; thereafter, the process proceeds to step 404, in which the pallet types with the same number of column feet in the pallet data storage area are accessed; if it is determined in step 404 that the pallet types with the same number of column feet in the pallet data storage area have been stored, the process proceeds to step 406, the column foot positions of all pallets with the same number of column feet are extracted and compared with the column foot positions of the pallets on the current production line, if the deviation values ​​of all column foot positions are within the preset range, the pallet is deemed to have been found, and the strapping is performed according to the strapping position pre-entered for the pallet; if it is determined in step 404 that the pallet data storage area does not have the pallet type with the same number of column feet, the process proceeds to step 408, in which an error is reported to indicate that there is no such type of pallet.

[0090] Figure 5 FIG. 1 is a schematic block diagram showing a system for automatically calculating the strapping position of a glass stack according to an embodiment of the present invention. Figure 5 The system 50 shown for automatically calculating the taping position of a glass stack may be suitable for use, for example, Figure 1 The pallet examples shown in Figure 2 The following will be combined with the pallet example shown in Figure 1 、 2 3 is used to describe a system for automatically calculating the strapping position of a glass stack according to an embodiment of the present invention. Figure 5As shown, the system 50 for automatically calculating the strapping position of the glass stack includes: a visual inspection unit 502, the visual inspection unit 502 acquiring an image of a pallet, detecting the column feet of the pallet in the image, and generating data indicating the position of the column feet, wherein the pallet carries the glass stack, and the pallet has N column feet, where N is an integer and 1<N. For example, the visual inspection unit 502 acquires the following: Figure 3 The image of the iron pallet shown in FIG. 1 is used to detect the column foot of the iron pallet in the acquired image (for example, Figure 1 ) and generates data representing the positions of the column feet (e.g., Figure 3 As shown in , data 306 indicating the front end position of column foot A, data 308 indicating the rear end position of column foot A, data 310 indicating the front end position of column foot B, data 312 indicating the rear end position of column foot B, data 314 indicating the front end position of column foot C, data 316 indicating the rear end position of column foot C, data 318 indicating the front end position of column foot D, data 320 indicating the rear end position of column foot D, data 322 indicating the front end position of column foot E, data 324 indicating the rear end position of column foot E, data 326 indicating the front end position of column foot F); and column foot size calculation unit 504, column foot type determination unit 506, column foot spacing The column foot size calculation unit 504, the column foot type determination unit 506, the column foot gap determination unit 508, and the tape position determination unit 510 perform recursive processing on multiple column feet among the N column feet; the recursive processing includes: the column foot size calculation unit 504 calculates the column foot size of the M-th column foot based on the data representing the position of the M-th column foot generated by the visual detection unit 502, wherein M is an integer and 1≦M≦N. For example, the column foot size calculation unit 504 calculates the column foot size of the M-th column foot based on the data representing the position of the first column foot (for example, column foot A) generated by the visual detection unit 502 (for example, Figure 3 As shown in , data 306 indicating the front end position of column foot A, data 308 indicating the rear end position of column foot A), the column foot size of the first column foot is calculated by subtracting the data 306 indicating the front end position of column foot A from the data 308 indicating the rear end position of column foot A; the column foot type determination unit 506, based on the column foot size of the Mth column foot calculated by the column foot size calculation unit 504, determines whether the column foot size of the Mth column foot falls within the single column foot size range, if the column foot size of the Mth column foot falls within the single column foot size range, then the type of the Mth column foot is determined to be a single column foot, if the column foot size of the Mth column foot does not fall within the single column foot size range, then the column foot size of the Mth column foot is determined to fall within the double column foot size range, if the column foot size of the Mth column foot falls within the double column foot size range, then the type of the Mth column foot is determined to be a double column foot, for example, Figure 1The type of column foot of the iron pallet shown in the figure is a double column foot. Figure 2 The type of the column foot of the wooden pallet shown in the figure is a single column foot. In addition, the size of the single column foot is generally larger than the size of the double column foot. The column foot gap determination unit 508 obtains the data representing the position of the M+1 column foot generated by the visual detection unit 502 when the column foot type determination unit 506 determines that the type of the M-th column foot is a double column foot, and determines the gap between the M-th column foot and the M+1-th column foot (for example, determining the gap between column foot A and column foot B) based on the data representing the position of the M-th column foot and the data representing the position of the M+1-th column foot. The strapping position determination unit 510 determines the strapping position, wherein the strapping position determination unit 510 performs the following Operation: When the column foot type determination unit 506 determines that the type of the M-th column foot is a single column foot, the strapping position is determined to be offset from the position of the M-th column foot by a predetermined distance; when the column foot type determination unit 506 determines that the type of the M-th column foot is a double column foot, and the gap between the M-th column foot and the M+1-th column foot is less than a predetermined threshold, the M-th column foot and the M+1-th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by a predetermined distance; when the column foot type determination unit determines that the type of the M-th column foot is a double column foot, and the gap between the M-th column foot and the M+1-th column foot is greater than or equal to the predetermined threshold, the strapping position is determined to be offset from the position of the combined column foot by a predetermined distance. The position is determined to be the middle position between the Mth column foot and the M+1th column foot; the system 50 also includes a recursive processing control unit 512, which performs the following operations: when the column foot type determination unit 506 determines that the type of the Mth column foot is a single column foot, the recursive processing control unit 512 determines whether M is equal to N. If M is not equal to N, the column foot size calculation unit 504, the column foot type determination unit 506, the column foot gap determination unit 508, and the strapping position determination unit 510 continue to perform recursive processing on the M+1th column foot. If M is equal to N, the column foot size calculation unit 504, the column foot type determination unit 506, The column foot gap determination unit 508 and the taping position determination unit 510 end the processing; when the column foot type determination unit 506 determines that the type of the Mth column foot is a double column foot, the recursive processing control unit 512 determines whether M+2 is equal to N. If M+2 is not equal to N, the column foot size calculation unit 504, the column foot type determination unit 506, the column foot gap determination unit 508, and the taping position determination unit 510 continue to perform recursive processing on the M+2th column foot. If M+2 is equal to N, the column foot size calculation unit 504, the column foot type determination unit 506, the column foot gap determination unit 508, and the taping position determination unit 510 end the recursive processing.

[0091] The judgment conditions in the recursive processing are as follows:

[0092] a. Size range of single column foot

[0093] Minimum size of a single column foot = S_Min_Distance

[0094] Maximum size of a single column foot = S_Max_Distance

[0095] When the size of the column foot is within the range of a single column foot, it is treated as a single column foot, and the tie position is the end position of the column foot plus an offset. For example, the tie position can be the front position of the column foot minus an offset, or the tie position can be the back position of the column foot plus an offset. The offset can be adjusted according to actual needs. For example, Figure 2 In the wooden pallet shown in FIG, each of the column feet A', B', C', and D' of the wooden pallet 204 is treated as a single column foot. For example, the strapping positions 206-2 and 206-4 are the front end positions of the corresponding column feet minus an offset, and the strapping positions 206-1 and 206-3 are the rear end positions of the corresponding column feet plus an offset. By setting the strapping position to the front end position of the column foot minus an offset, or setting the strapping position to the rear end position of the column foot plus an offset, different strapping positions can be selected for each single column foot, and the stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation.

[0096] b. Size range of double column feet

[0097] Minimum size of double column feet = D_Min_Distance

[0098] Maximum size of the double column foot = D_Max_Distance

[0099] When the size of the column foot is within the range of the double column foot, it is processed as a double column foot, and then the gap between the column foots is determined.

[0100] c. Distance range of double column gap

[0101] Minimum distance between two columns = G_Min_Distance

[0102] Maximum distance between two columns = G_Max_Distance

[0103] That is, in determining the gap between two columns, the gap between the current column foot and the next adjacent column foot needs to be considered. When the distance between the two column feet is greater than, for example, 40 mm, and the rapier head can pass through the middle, a banding is performed at the middle position between the two column feet. When the distance between the two column feet is less than 40 mm, the two column feet are merged into one column foot, and the banding position is the position of the merged column foot plus an offset. For example, the banding position is the front position of the merged column foot position (i.e., the front position of the current column foot) minus an offset, or the banding position is the rear position of the merged column foot position (i.e., the rear position of the next adjacent column foot) plus an offset. This offset can be adjusted according to actual needs. For example, if each of the multiple column feet of a pallet is treated as a double column foot and is merged because the distance between adjacent column feet is less than a predetermined distance, then a portion of the banding positions can be set to the front position of the corresponding merged column foot minus an offset, and another portion of the banding positions can be set to the rear position of the corresponding merged column foot plus an offset. By setting the strapping position to the front end position of the combined column foot minus an offset, or setting the strapping position to the rear end position of the combined column foot plus an offset, different strapping positions can be selected for each combined column foot. The stress state of the strapping at the strapping position can be adjusted according to actual needs to ensure that the stress of the strapping is uniform, thereby ensuring the safety of the goods during transportation.

[0104] When the above conditions are met, a strapping position can be calculated, and the array index of the next column foot position to be calculated can be given to the next recursive calculation.

[0105] Specifically, the data representing the position of the column foot generated by the visual detection unit 502 includes at least data representing the front end position of the column foot and data representing the rear end position of the column foot. For example, the data representing the front end position of the column foot and the data representing the rear end position of the column foot are as follows: Figure 3 As shown in .

[0106] Specifically, the column foot size calculation unit 504 calculates the column foot size of the Mth column foot by subtracting the data indicating the front end position of the Mth column foot from the data indicating the rear end position of the Mth column foot. For example, the column foot size calculation unit 504 calculates the column foot size of the Mth column foot based on the data indicating the position of the first column foot (for example, column foot A) generated by the visual detection unit 502 (for example, Figure 3 As shown in the figure, data 306 representing the front end position of column foot A and data 308 representing the rear end position of column foot A are obtained. The column foot size of the first column foot is calculated by subtracting the data 306 representing the front end position of column foot A from the data 308 representing the rear end position of column foot A.

[0107] Specifically, the column foot gap determining unit 508 subtracts the data indicating the rear end position of the Mth column foot from the data indicating the front end position of the M+1th column foot to determine the gap between the Mth column foot and the M+1th column foot. For example, the column foot gap determining unit 508 subtracts the data indicating the rear end position of the first column foot (e.g., column foot A) from the data 310 indicating the front end position of the second column foot (e.g., column foot B) generated by the visual inspection unit 502 to determine the gap between the first column foot and the first column foot.

[0108] Specifically, when the column foot type determination unit 506 determines that the type of the Mth column foot is a single column foot, and M is not equal to N (that is, the Mth column foot is not the last column foot), the strapping position determination unit 510 determines the strapping position to be offset from the front end position of the Mth column foot by a predetermined distance (that is, subtracting the predetermined distance from the front end position of the Mth column foot), or the strapping position determination unit determines the strapping position to be offset from the rear end position of the Mth column foot by a predetermined distance (that is, adding the predetermined distance to the rear end position of the Mth column foot).

[0109] Specifically, when the column foot type determination unit 506 determines that the type of the Mth column foot is a single column foot, and M is equal to N (that is, the Mth column foot is the last column foot), the strapping position determination unit 510 determines the strapping position as being offset from the front end position of the Mth column foot by the predetermined distance (that is, the front end position of the Mth column foot is subtracted by the predetermined distance).

[0110] Specifically, when the column base type determination unit 506 determines that the type of the Mth column base is a double column base, and the gap between the Mth column base and the M+1th column base is less than a predetermined threshold, and M+1 is not equal to N (that is, the M+1th column base is not the last column base), the strapping position determination unit 510 determines the strapping position as offset from the front end position of the combined column base by the predetermined distance (that is, subtracting the predetermined distance from the front end position of the combined column base, wherein the front end position of the combined column base may be the front end position of the Mth column base), or the strapping position determination unit 510 determines the strapping position as offset from the rear end position of the combined column base by a predetermined distance (that is, adding the predetermined distance to the rear end position of the combined column base, wherein the rear end position of the combined column base may be the rear end position of the M+1th column base).

[0111] Specifically, when the column foot type determination unit 506 determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than a predetermined threshold, and M+1 is equal to N (that is, the M+1th column foot is the last column foot), the strapping position determination unit 510 determines the strapping position as an offset from the front end position of the combined column foot (that is, the front end position of the combined column foot is subtracted by a predetermined distance, where the front end position of the combined column foot can be the front end position of the Mth column foot).

[0112] Figure 6 FIG. 4 is a schematic block diagram illustrating a recursive algorithm adopted by a system for automatically calculating strapping positions of a glass stack according to an embodiment of the present invention. In block 602, the system for automatically calculating the tape positions of the glass pile performs a first recursive process, takes column foot positions A[0] and A[1], where column foot position A[0] represents the front end position of a column foot and column foot position A[1] represents the rear end position of the column foot, calculates the size of the column foot, P0=A[1]-A[0], determines the type of the column foot and outputs the column foot subscript N1 to be determined next time, outputs the tape position P1 in 602-A, and returns to N1 in 602-B; in block 604, the system for automatically calculating the tape positions of the glass pile performs a second recursive process, takes column foot positions A[N1] and A[N1+1], where column foot position A[N1] represents the front end position of a column foot and column foot position A[N1+1] represents the rear end position of the column foot, calculates the size of the column foot, P0=A[N1+1]-A[N1]. , judge the type of the column foot and output the column foot subscript N2 that needs to be judged next time, in 604-A, output the taping position P2, in 604-B, return to N2; in box 606, the system for automatically calculating the taping position of the glass pile performs the third recursive processing, takes the column foot positions A[N2] and A[N2+1], where the column foot position A[N2] represents the front end position of a column foot, and the column foot position A[N2+1] represents the rear end position of the column foot, calculates the size of the column foot, P0=A[N2+1]-A[N2], judges the type of the column foot and outputs the column foot subscript N3 that needs to be judged next time, in 606-A, outputs the taping position P3, in 606-B, return to N3; process in sequence until box 60N, in box 60N, the system for automatically calculating the taping position of the glass pile performs the Nth recursive processing, takes the column foot position A[N m ] and A[N m +1], where the column foot position A[N m ] indicates the front end position of a column foot, column foot position A[N m +1] represents the rear end position of the column foot, calculate the size of the column foot, P0=A[N m +1]-A[N m], judge the type of the column foot and output the column foot subscript N3 that needs to be judged next time, at 60N-A, output the tape position P N , and so on, until the column foot is the last column foot.

[0113] Figure 7The present invention is a schematic flow chart showing a method for automatically calculating the strapping position of a glass stack according to an embodiment of the present invention. The method for automatically calculating the strapping position of a glass stack includes: a visual inspection step 702, acquiring an image of a pallet, detecting the column feet of the pallet in the image, and generating data representing the positions of the column feet, wherein the pallet carries the glass stack, and the pallet has N column feet, N is an integer, and 1<N; and a recursive processing step 704, wherein the recursive processing step 704 recursively processes multiple column feet among the N column feet, and the recursive processing includes the following sub-steps: a column foot size calculation sub-step, calculating the column foot size of the M-th column foot based on the data representing the position of the M-th column foot generated by the visual inspection step, wherein M is an integer, and 1≦M≦N; a column foot type determination sub-step, based on the column foot size of the Mth column foot calculated in the column foot size calculation sub-step, judging whether the column foot size of the Mth column foot falls within the single column foot size range; if the column foot size of the Mth column foot falls within the single column foot size range, then judging the type of the Mth column foot to be a single column foot; if the column foot size of the Mth column foot does not fall within the single column foot size range, then judging whether the column foot size of the Mth column foot falls within the double column foot size range; if the column foot size of the Mth column foot falls within the double column foot size range, then judging the type of the Mth column foot to be a double column foot; a column foot gap determination sub-step, in the column foot gap determination sub-step, In the foot type determination sub-step, when it is determined that the type of the M-th column foot is a double column foot, the data representing the position of the M+1-th column foot generated by the visual detection step is obtained, and based on the data representing the position of the M-th column foot and the data representing the position of the M+1-th column foot, the gap between the M-th column foot and the M+1-th column foot is determined; in the strapping position determination sub-step, the strapping position is determined based on the judgment result of the column foot type determination sub-step, wherein the strapping position determination sub-step includes the following items: in the column foot type determination sub-step, when it is determined that the type of the M-th column foot is a single column foot, the strapping position is determined to be the same as the M-th column foot. the position of the column foot is offset by a predetermined distance; if the column foot type determination substep determines that the type of the M-th column foot is a double column foot, and the gap between the M-th column foot and the M+1-th column foot is less than a predetermined threshold, the M-th column foot and the M+1-th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by the predetermined distance; if the column foot type determination substep determines that the type of the M-th column foot is a double column foot, and the gap between the M-th column foot and the M+1-th column foot is greater than or equal to the predetermined threshold, the strapping position is determined to be the middle position between the M-th column foot and the M+1-th column foot;The method further includes a recursive processing control step 706, which includes the following items: when the column foot type determination sub-step determines that the type of the M-th column foot is a single column foot, determine whether M is equal to N; if M is not equal to N, continue to perform the recursive processing on the M+1-th column foot by the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step; if M is equal to N, continue to perform the recursive processing on the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step. The tape position determination sub-step ends processing; if the column foot type determination sub-step determines that the Mth column foot is a double column foot, a determination is made as to whether M+2 is equal to N. If M+2 is not equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the tape position determination sub-step continue the recursive processing for the M+2th column foot. If M+2 is equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the tape position determination sub-step end processing.

[0114] The data indicating the position of the column foot at least includes data indicating the front end position of the column foot and data indicating the rear end position of the column foot.

[0115] The column foot size calculation sub-step subtracts the data representing the front end position of the Mth column foot from the data representing the rear end position of the Mth column foot to calculate the column foot size of the Mth column foot.

[0116] Among them, the column foot gap determination sub-step will subtract the data representing the front end position of the M+1th column foot from the data representing the rear end position of the Mth column foot to determine the gap between the Mth column foot and the M+1th column foot.

[0117] Among them, when the column foot type determination sub-step determines that the type of the Mth column foot is a single column foot, and M is not equal to N, the strapping position determination sub-step determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance, or the strapping position determination sub-step determines the strapping position as offset from the rear end position of the Mth column foot by the predetermined distance.

[0118] Among them, when the column foot type determination sub-step determines that the type of the Mth column foot is a single column foot, and M is equal to N, the strapping position determination sub-step determines the strapping position as offset from the front end position of the Mth column foot by the predetermined distance.

[0119] Among them, when the column foot type determination sub-step determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is not equal to N, the strapping position determination sub-step determines the strapping position as offset from the front end position of the combined column foot by the predetermined distance, or the strapping position determination sub-step determines the strapping position as offset from the rear end position of the combined column foot by the predetermined distance.

[0120] Among them, in the column foot type determination sub-step, when it is determined that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is equal to N, the strapping position determination sub-step determines the strapping position as offset from the front end position of the combined column foot.

[0121] Through the technical solution of the present invention, the following technical effects are achieved: the use of a method for automatically calculating the strapping position of a glass stack can not only significantly improve the production efficiency of the production line, but also greatly reduce the time and labor costs required for manually entering the pallet type each time; through intelligent recognition and processing, it can automatically adapt to different pallet types and accurately calculate the strapping position, thereby ensuring the continuity and stability of the production process; it also has a high degree of flexibility and scalability, and can adapt to various new pallet types that may appear in the future without the need for tedious manual adjustments and settings, further improving the adaptability and competitiveness of the production line.

[0122] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A system for automatically calculating the strapping position of a glass stack, characterized in that: The system comprises: a visual inspection unit that acquires an image of a pallet, detects a foot of the pallet in the image, and generates data indicating a position of the foot, wherein the pallet carries the stack of glass and has N foots, where N is an integer and 1<N; and a column foot size calculation unit, a column foot type determination unit, a column foot gap determination unit, and a banding position determination unit, wherein the column foot size calculation unit, the column foot type calculation unit, the column foot gap determination unit, and the banding position determination unit recursively process a plurality of the N column foots; The recursive processing includes: The column foot size calculation unit calculates the column foot size of the Mth column foot based on the data representing the position of the Mth column foot generated by the visual detection unit, where M is an integer and 1≦M≦N; The column foot type determining unit determines, based on the column foot size of the Mth column foot calculated by the column foot size calculating unit, whether the column foot size of the Mth column foot falls within a single column foot size range; if the column foot size of the Mth column foot falls within the single column foot size range, the type of the Mth column foot is determined to be a single column foot; if the column foot size of the Mth column foot does not fall within the single column foot size range, the unit determines whether the column foot size of the Mth column foot falls within a double column foot size range; if the column foot size of the Mth column foot falls within the double column foot size range, the unit determines that the type of the Mth column foot is a double column foot; The column foot gap determining unit, when the column foot type determining unit determines that the type of the Mth column foot is a double column foot, obtains the data indicating the position of the M+1th column foot generated by the visual detection unit, and determines the gap between the Mth column foot and the M+1th column foot based on the data indicating the position of the Mth column foot and the data indicating the position of the M+1th column foot; The strapping position determination unit performs the following operations: When the column foot type determination unit determines that the type of the M-th column foot is a single column foot, the taping position is determined to be offset from the position of the M-th column foot by a predetermined distance; When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot determined by the column foot gap determination unit is smaller than a predetermined threshold, the Mth column foot and the M+1th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by the predetermined distance; When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot determined by the column foot gap determination unit is greater than or equal to the predetermined threshold, the taping position is determined to be the middle position between the Mth column foot and the M+1th column foot; The system also includes a recursive processing control unit, which controls the recursive processing of the column foot size calculation unit, the column foot type determination unit, the column foot gap determination unit, and the tape position determination unit based on the judgment result of the column foot type determination unit.

2. The system for automatically calculating the strapping position of a glass stack according to claim 1, characterized in that: The recursive processing control unit is configured to: When the column foot type determination unit determines that the type of the M-th column foot is a single column foot, the recursive processing control unit determines whether M is equal to N. If M is not equal to N, the column foot size calculation unit, the column foot type determination unit, the column foot gap determination unit, and the taping position determination unit continue to perform the recursive processing on the M+1-th column foot. If M is equal to N, the column foot size calculation unit, the column foot type determination unit, the column foot gap determination unit, and the taping position determination unit terminate the recursive processing. When the column base type determination unit determines that the type of the Mth column base is a double column base, the recursive processing control unit determines whether M+2 is equal to N. If M+2 is not equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the tape position determination unit continue to perform the recursive processing on the M+2th column base. If M+2 is equal to N, the column base size calculation unit, the column base type determination unit, the column base gap determination unit, and the tape position determination unit end the recursive processing.

3. The system for automatically calculating the strapping position of a glass stack according to claim 1 or 2, characterized in that: The data indicating the position of the column foot at least includes data indicating the position of the front end of the column foot and data indicating the position of the rear end of the column foot. The column foot size calculation unit subtracts data indicating a front end position of the Mth column foot from data indicating a rear end position of the Mth column foot to calculate the column foot size of the Mth column foot.

4. The system for automatically calculating the strapping position of a glass stack according to claim 3, characterized in that: The column foot gap determining unit subtracts data indicating a rear end position of the Mth column foot from data indicating a front end position of the M+1th column foot to determine a gap between the Mth column foot and the M+1th column foot.

5. The system for automatically calculating the strapping position of a glass stack according to claim 4, characterized in that: When the column foot type determination unit determines that the type of the M-th column foot is a single column foot, and M is not equal to N, the strapping position determination unit determines the strapping position to be offset from the front end position of the M-th column foot by the predetermined distance, or the strapping position determination unit determines the strapping position to be offset from the rear end position of the M-th column foot by the predetermined distance; When the column foot type determination unit determines that the type of the Mth column foot is a single column foot and M is equal to N, the taping position determination unit determines the taping position to be offset from the front end position of the Mth column foot by the predetermined distance.

6. The system for automatically calculating the strapping position of a glass stack according to claim 4, characterized in that: When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is smaller than the predetermined threshold, and M+1 is not equal to N, the strapping position determination unit determines the strapping position to be offset from the front end position of the combined column foot by the predetermined distance, or the strapping position determination unit determines the strapping position to be offset from the rear end position of the combined column foot by the predetermined distance; When the column foot type determination unit determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is equal to N, the strapping position determination unit determines the strapping position as offset from the front end position of the combined column foot by the predetermined distance.

7. A method for automatically calculating the strapping position of a glass stack, characterized in that: The method comprises: a visual inspection step of acquiring an image of a pallet, detecting the legs of the pallet in the image, and generating data indicating the positions of the legs, wherein the pallet carries the glass stack and has N legs, where N is an integer and 1<N; and A recursive processing step, wherein the recursive processing step recursively processes a plurality of the N column feet, and the recursive processing comprises the following sub-steps: a column foot size calculation substep of calculating the column foot size of the Mth column foot based on the data representing the position of the Mth column foot generated in the visual detection step, wherein M is an integer and 1≦M≦N; a column foot type determination sub-step, based on the column foot size of the Mth column foot calculated in the column foot size calculation sub-step, determining whether the column foot size of the Mth column foot falls within a single column foot size range; if the column foot size of the Mth column foot falls within the single column foot size range, determining that the type of the Mth column foot is a single column foot; if the column foot size of the Mth column foot does not fall within the single column foot size range, determining whether the column foot size of the Mth column foot falls within a double column foot size range; if the column foot size of the Mth column foot falls within the double column foot size range, determining that the type of the Mth column foot is a double column foot; a column foot gap determination substep, in which, if the column foot type determination substep determines that the type of the Mth column foot is a double column foot, data indicating the position of the M+1th column foot generated by the visual detection step is obtained, and based on the data indicating the position of the Mth column foot and the data indicating the position of the M+1th column foot, a gap between the Mth column foot and the M+1th column foot is determined; The tape-tying position determination sub-step is to determine the tape-tying position, wherein: The strapping position determination sub-step includes the following items: In the column foot type determination sub-step, when it is determined that the type of the M-th column foot is a single column foot, the strapping position is determined to be offset from the position of the M-th column foot by a predetermined distance; If it is determined in the column foot type determination sub-step that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot determined in the column foot gap determination sub-step is smaller than a predetermined threshold, the Mth column foot and the M+1th column foot are combined into a combined column foot, and the strapping position is determined to be offset from the position of the combined column foot by the predetermined distance; If the column foot type determining sub-step determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot determined in the column foot gap determining sub-step is greater than or equal to the predetermined threshold, the taping position is determined to be the middle position between the Mth column foot and the M+1th column foot; The method also includes a recursive processing control step, which controls the recursive processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step based on the judgment result of the column foot type determination sub-step.

8. The method for automatically calculating the strapping position of a glass stack according to claim 7, characterized in that: The recursive processing control steps include the following: If the column foot type determination sub-step determines that the type of the M-th column foot is a single column foot, determine whether M is equal to N. If M is not equal to N, continue the recursive processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step for the M+1-th column foot. If M is equal to N, terminate the recursive processing of the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step. In the case where the column foot type determination sub-step determines that the type of the Mth column foot is a double column foot, determine whether M+2 is equal to N. If M+2 is not equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step continue to perform the recursive processing on the M+2th column foot. If M+2 is equal to N, the column foot size calculation sub-step, the column foot type determination sub-step, the column foot gap determination sub-step, and the strapping position determination sub-step end the recursive processing.

9. The method for automatically calculating the strapping position of a glass stack according to claim 7 or 8, characterized in that: The data indicating the position of the column foot at least includes data indicating the position of the front end of the column foot and data indicating the position of the rear end of the column foot. The column foot size calculation sub-step subtracts the data representing the rear end position of the Mth column foot from the data representing the front end position of the Mth column foot to calculate the column foot size of the Mth column foot.

10. The method for automatically calculating the strapping position of a glass stack according to claim 9, characterized in that: The column foot gap determination sub-step subtracts the data representing the rear end position of the Mth column foot from the data representing the front end position of the M+1th column foot to determine the gap between the Mth column foot and the M+1th column foot.

11. The method for automatically calculating the strapping position of a glass stack according to claim 10, characterized in that: If the column foot type determining substep determines that the type of the M-th column foot is a single column foot, and M is not equal to N, the strapping position determining substep determines the strapping position to be offset from the front end position of the M-th column foot by the predetermined distance, or the strapping position determining substep determines the strapping position to be offset from the rear end position of the M-th column foot by the predetermined distance; When the column foot type determination sub-step determines that the type of the Mth column foot is a single column foot and M is equal to N, the strapping position determination sub-step determines the strapping position as being offset from the front end position of the Mth column foot by the predetermined distance.

12. The method for automatically calculating the strapping position of a glass stack according to claim 10, characterized in that: When the column foot type determination sub-step determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is not equal to N, the strapping position determination sub-step determines the strapping position as being offset from the front end position of the combined column foot by the predetermined distance, or the strapping position determination sub-step determines the strapping position as being offset from the rear end position of the combined column foot by the predetermined distance; when the column foot type determination sub-step determines that the type of the Mth column foot is a double column foot, and the gap between the Mth column foot and the M+1th column foot is less than the predetermined threshold, and M+1 is equal to N, the strapping position determination sub-step determines the strapping position as being offset from the front end position of the combined column foot by the predetermined distance.

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