## 4 Experiment Results
### Experiments  
The system architecture and real picture of the workstation is shown in Figures 35 and 36, respectively. The high flexibility and integration of the PC-based control system are utilized in development, which means that the system can be connected to various robotic arms and devices via Ethernet; in addition, the value data are transmitted to the robotic arm to move the arm to the target point or start other devices. The workstation is mainly divided into the main controller, the feeding end, the robotic arm, the placing area, and the vision system. The main controller, the laptop, is mainly responsible for the calculation of the robotic arm position and the overall communication interface. At the feeding end, the conveyor belt is responsible for asserting whether there is a workpiece entering and the preliminary alignment. The robotic arm is responsible for receiving the coordinates of the object, picking up the object and placing the object at the designated point. The placing area is the area where the workpieces are stacked. Furthermore, a vision system is added to determine whether the stacked workpieces are dislocated or offset. If there is an object offset, the system will stop the action and warn the user. Figure 34: Vision system data. Figure 33: Palletizing data. The practical process is shown in Figure 37. Before starting, the model and IP of the robotic arm must be selected in the Robot Status page of the user interface, as shown in the red box of (I). Then, the length, width, height, and other information of the pallet and the box are inputted in the Palletizing page of the user interface, as shown in the red box of (II). After pressing Confirm, the conveyor belt will be controlled to move the woodblock to the picking area of the robotic arm by PLC, as shown in (III). Following the pick-up motion, the object will be placed in the specified position according to the calculated coordinates. When the single layer palletizing is completed, the palletizing status will be checked. If it is normal, the number of layers will be displayed, as shown in the red box of (IV), and continue the palletizing operation. If there is an error in the palletizing process, a \"Palletizing Failure\" warning message will pop up, as shown in (V), and the palletizing process will be paused at this time. One of the paused situation can be shown in Figure 38, at this time, it will wait for the staff to confirm. If the palletizing state is normal, as shown in Figure 39, the next palletizing process will be continued. Figure 35: The system architecture of the workstation. Figure 36: The workstation. Figure 37: Practical arrangement action. (**I**) Robot status. (**II**) Palletizing parameters. (**III**) Pick-up motion. (**IV**) Single-layer palletizing complete. (**V**) Palletizing check. Figure 38: Failed palletizing in workstation. The AI working area safety module system is introduced into the visual detection system in this study. Through modular design, different levels of equipment can be replaced according to requirements. For example, the computer that processes the signal can be replaced with a Raspberry Pi, a laptop or a computer with high computing power; besides, a 2D webcam or a 3D camera that can capture depth values are both available and use the AI algorithm-YOLOv4 or YOLOv4-tiny to process the captured image. Moreover, sensors such as gyro and sound detect can also be installed to detect the machine vibration and the fault prediction, which greatly improves the practicality. This system has been demonstrated in the laboratory and KUKA robotic arm grinding station. The left side of Figure 40 is the physical AI working area safety module. As for the right side of Figure 40, the AI working area safety module can monitor whether there are people entering the warn area (yellow box) and danger area (red box) in the processing range of the KUKA robotic arm (black box) grinding station. Once people entering the danger area, red light will be turned on and the action of the robotic arm will be stopped immediately.