Sewing feeding processing method and device, computer device and storage medium

Abstract

The application relates to a sewing feeding processing method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining second feature points corresponding to the positions of first feature points on a product according to three first feature points on a reference figure, and creating a first coordinate system and a second coordinate system according to the feature points; obtaining the position of a second center point of the product in the second coordinate system according to the position of a first center point of the reference figure in the first coordinate system; creating a third coordinate system by taking the first center point as a coordinate origin and combining the second coordinate system, creating a fourth coordinate system by taking the second center point as a coordinate origin and combining the first coordinate system, and performing matrix multiplication operation on the third coordinate system and the fourth coordinate system to obtain a correction operator; and calculating a corrected feeding area grabbing point according to the correction operator and the feeding area grabbing point. The feeding track can be re-planned to avoid needle collision accidents in the sewing process.

Description

Technical Field

[0001] This invention relates to a sewing material feeding method, apparatus, computer equipment, and storage medium, belonging to the field of sewing processing automation. Background Technology

[0002] The traditional sewing industry faces challenges such as difficulty in recruiting workers and high labor costs, resulting in a large number of sewing machines being idle. Therefore, solutions have begun to emerge that utilize robots to replace manual labor in loading and unloading operations. With simple modifications to traditional sewing machines, labor costs can be reduced, allowing these machines to be put back into production and continue to generate value.

[0003] During the sewing process, the jig needs to press down on the product as much as possible to prevent the edges of the product from being pulled by the needle and thread of the sewing machine. However, when calibrating the sewing machine jig, only a small jig can be used to press down on the center area of ​​the product, because all sewing paths are automatically implemented through offline programming. Therefore, if a larger jig is used, there is a possibility of needle collision during processing.

[0004] Furthermore, even if the above problems are overcome, there will still be a tedious process of manually adjusting the gripping points in the feeding area and the jig posture. If the adjustment is not done well, the sewing trajectory may not coincide with the edge of the product. Summary of the Invention

[0005] To address the shortcomings of the prior art, the present invention aims to provide a sewing feeding process method, apparatus, computer equipment, and storage medium. By calculating the coordinate transformation, an operator for correcting the gripping point in the feeding area is obtained, which can correct the gripping point and gripping posture in the feeding area, thereby avoiding needle collision accidents during the sewing process.

[0006] According to an embodiment of the present invention, a first embodiment is provided: a sewing material feeding method, the method comprising:

[0007] Based on the three first feature points on the reference graphic, obtain the second feature points on the product corresponding to the positions of the first feature points, and create a first coordinate system and a second coordinate system based on the feature points respectively;

[0008] The position of the second center point of the product in the second coordinate system is obtained based on the position of the first center point of the reference graphic in the first coordinate system.

[0009] A third coordinate system is created by combining the first center point as the origin with the second coordinate system, and a fourth coordinate system is created by combining the second center point as the origin with the first coordinate system. A matrix multiplication operation is then performed on the third coordinate system and the fourth coordinate system to obtain the correction operator.

[0010] The corrected feeding area gripping point is calculated based on the correction operator and the feeding area gripping point;

[0011] The feeding trajectory is calculated by combining the gripping point in the feeding area and the drop point of the needle tip, and the feeding trajectory is sent to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

[0012] Furthermore, as a more preferred embodiment of the present invention, the step of creating a first coordinate system and a second coordinate system based on the feature points includes:

[0013] Taking one of the first feature points as the origin, and the line connecting the first feature point to the other two first feature points as the first x and first y axes, the first z axis is obtained by vector cross product operation;

[0014] The direction vector of the first y-axis is adjusted according to the first x-axis and the first z-axis to obtain a first coordinate system with the first feature point as the origin.

[0015] Furthermore, in a more preferred embodiment of the present invention, the step of creating a first coordinate system and a second coordinate system based on the feature points further includes:

[0016] Using one of the second feature points as the origin, and the line connecting the second feature point to the other two second feature points as the second x and second y axes, the second z axis is obtained through vector cross product operation;

[0017] The direction vector of the second y-axis is adjusted according to the second x-axis and the second z-axis to obtain a second coordinate system with the second feature point as the origin.

[0018] Furthermore, as a more preferred embodiment of the present invention, the step of creating a third coordinate system by combining the first center point as the origin with the second coordinate system includes:

[0019] The third x-axis is obtained by using the line connecting the first center point to the endpoints of the second x-axis and the second y-axis as the third x-axis and the third y-axis, and by using the vector cross product operation.

[0020] The direction vector of the third y-axis is adjusted based on the third x-axis and the third z-axis to obtain the third coordinate system with the first center point as the origin.

[0021] Furthermore, as a more preferred embodiment of the present invention, the step of creating a fourth coordinate system by combining the second center point as the origin with the first coordinate system includes:

[0022] The fourth x-axis and the fourth y-axis are obtained by using the line connecting the second center point to the endpoints of the first x-axis and the first y-axis, and the fourth z-axis is obtained by the vector cross product operation.

[0023] By adjusting the direction vector of the fourth y-axis based on the fourth x and fourth z axes, a fourth coordinate system with the second center point as the origin is obtained.

[0024] Furthermore, as a more preferred embodiment of the present invention, the corrected feeding area gripping point includes gripping position and posture information.

[0025] According to an embodiment of the present invention, a second embodiment is provided: a sewing feeding processing device, the device comprising:

[0026] The coordinate system creation module is used to obtain the second feature point on the product corresponding to the position of the first feature point based on the three first feature points on the reference graphic, and to create a first coordinate system and a second coordinate system based on the feature points respectively.

[0027] The center point acquisition module is used to acquire the second center point position of the product in the second coordinate system based on the first center point position of the reference graphic in the first coordinate system.

[0028] The coordinate system creation module is also used to create a third coordinate system by combining the first center point as the origin with the second coordinate system, and to create a fourth coordinate system by combining the second center point as the origin with the first coordinate system;

[0029] The computation module is used to perform matrix multiplication operations on the third coordinate system and the fourth coordinate system to obtain the correction operator;

[0030] The correction module is used to calculate the corrected gripping point of the loading area based on the correction operator and the gripping point of the loading area;

[0031] The trajectory generation module is used to calculate the feeding trajectory by combining the gripping point and the needle tip landing point in the feeding area, and send the feeding trajectory to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

[0032] According to an embodiment of the present invention, a third solution is provided: a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the above-described sewing feeding processing methods.

[0033] According to an embodiment of the present invention, a fourth solution is provided: a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described sewing feeding processing methods.

[0034] According to an embodiment of the present invention, a fifth embodiment is provided: a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described sewing feeding processing methods.

[0035] Compared with the prior art, the technical solution provided in this application obtains obvious feature points on the reference graphic and the actual product, and creates a first coordinate system and a second coordinate system based on the feature points. Then, a third coordinate system is created by combining the center point of the reference graphic with the second coordinate system, and a fourth coordinate system is created by combining the center point of the actual product with the first coordinate system. Then, a correction operator is calculated between the three coordinate systems based on the positional relationship between the third and fourth coordinate systems. The correction operator is used to correct the gripping point and gripping posture in the feeding area, thereby replanning the feeding trajectory and avoiding needle collision accidents during sewing. Attached Figure Description

[0036] Figure 1 This is one of the flowcharts of the sewing material feeding process of the present invention;

[0037] Figure 2 This is the second flowchart of the sewing material feeding process of the present invention;

[0038] Figure 3 This is the third flowchart of the sewing material feeding process of the present invention;

[0039] Figure 4 This is the fourth flowchart of the sewing material feeding process of the present invention;

[0040] Figure 5 This is the fifth flowchart of the sewing material feeding process of the present invention;

[0041] Figure 6 This is a block diagram of the sewing feeding processing device of the present invention;

[0042] Figure 7 This is an application scenario diagram of the sewing material feeding method of the present invention;

[0043] Figure 8 This is an internal structural diagram of a computer device according to one embodiment. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] like Figure 1 As shown, in one embodiment, a sewing material feeding method includes the following steps:

[0046] Step S110: Obtain the second feature points on the product corresponding to the positions of the first feature points based on the three first feature points on the reference graphic, and create a first coordinate system and a second coordinate system based on the feature points respectively.

[0047] Specifically, such as Figure 7 As shown, the solid line represents the reference image, the dashed line represents the product's location, and the dots... D P1, D P2, D P3 represents the three endpoints of the reference diagram. T P1, T P2, T P3 represents the three endpoints of the product; points can be placed here. D P1, D P2, D P3 is considered as three primary feature points, and the points are... T P1, T P2, T P3 is considered as three second feature points, based on the points... D P1, D P2, D P3 creates the first coordinate system, based on point... T P1, T P2, T P3 creates a second coordinate system. During the creation of the coordinate system, the selected points should correspond to each other. If points are selected... D If P1 is the origin of the first coordinate system, then the origin of the second coordinate system is the point intersecting with P1. D Point P1 T P1.

[0048] The reference graphic can be obtained in various ways, such as drawing the reference graphic using CAD and generating a DXF file, which is then imported into the computer to generate the feeding trajectory. The outline of the reference graphic matches the product outline and has specified coordinates. Under normal conditions, the computer calculates and generates the feeding trajectory based on the coordinates of the reference graphic and the coordinates of the needle tip's landing point on the sewing machine. However, when the product is placed or moved to the feeding area, there may be a mismatch between the product's edge outline and the reference graphic, causing the product to be misaligned when the feeding robot grasps it, affecting subsequent sewing processes.

[0049] It should be noted that the coordinates of the acquired feature points will differ depending on the acquisition method. For example, the first feature point may be in the DXF coordinate system, while the second feature point may be in the sewing equipment coordinate system. The sewing equipment coordinate system is determined by the needle tip's point of impact. T N is used as the origin for calibration, point D P1 and point TP1 can actually be viewed as the coordinates obtained with the sewing equipment coordinate system {T} as the actual reference system and the attitude angle being zero. For ease of description and understanding, in this embodiment, the coordinate system {T} is converted to coordinates with the loading robot base coordinate system {B} as the actual reference system. The conversion process is simply recorded as follows:

[0050] T{ T P}=>B{ B P}

[0051] Then, the two sets of feature points are transformed according to the above transformation method. The transformation process is as follows:

[0052] T{ D P1, D P2, D P3}=>B{ B P1, B P2, B P3} (Group 1)

[0053] T{ T P1, T P2, T P3}=>B{ B P4 B P5 B P6} (Group 2)

[0054] In this setup, the coordinates of Group 1 are derived from feature points in the graphic, and the resulting coordinate values ​​are fixed. The coordinates of Group 2 are derived from points on the actual product, and the coordinate values ​​of these points will change depending on the gripping point's position and posture. Furthermore, since the product's placement position and posture are designed by the user and cannot be arbitrarily adjusted, it is necessary to calibrate the robot's gripping point position and posture during gripping.

[0055] Step S120: Obtain the position of the second center point of the product in the second coordinate system based on the position of the first center point of the reference graphic in the first coordinate system.

[0056] Specifically, since the reference drawing and the product have the same shape, and the position of the first coordinate system in the reference drawing is the same as the position of the second coordinate system in the product, therefore, based on the first center point... D The position of point O in the first coordinate system can be used to determine the position of the second center point in the second coordinate system.

[0057] Step S130: Create a third coordinate system by combining the first center point as the origin with the second coordinate system, and create a fourth coordinate system by combining the second center point as the origin with the first coordinate system. Perform matrix multiplication on the third and fourth coordinate systems to obtain the correction operator.

[0058] Specifically, a third coordinate system is created by combining the first center point and the second coordinate system, and a fourth coordinate system is created by combining the second center point and the first coordinate system. The origin of the third coordinate system is the actual product's gripping point, and the origin of the fourth coordinate system is the actual material gripping point. By using the two coordinate systems, the positional relationship between the two coordinate systems can be calculated, i.e., the correction operator.

[0059] Step S140: Calculate the corrected feeding area gripping point based on the correction operator and the feeding area gripping point.

[0060] Step S150: Calculate the feeding trajectory by combining the gripping point in the feeding area and the drop point of the needle tip, and send the feeding trajectory to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

[0061] The above-mentioned sewing material feeding method obtains obvious feature points on the reference graphic and the actual product, and creates a first coordinate system and a second coordinate system based on the feature points. Then, it creates a third coordinate system by combining the center point of the reference graphic with the second coordinate system, and creates a fourth coordinate system by combining the center point of the actual product with the first coordinate system. Then, it calculates the correction operator between the three coordinate systems by the positional relationship between the third and fourth coordinate systems. The correction operator is used to correct the gripping point and gripping posture in the feeding area, thereby replanning the feeding trajectory and avoiding needle collision accidents during the sewing process.

[0062] like Figure 2 As shown, in one embodiment, creating a first coordinate system and a second coordinate system based on feature points includes the following steps:

[0063] Step S111: Using a first feature point as the origin, and the line connecting the first feature point to the other two first feature points as the first x and first y axes, the first z axis is obtained through vector cross product operation.

[0064] Specifically, with B P1 is the origin, and the vector is... B X1 = B P1- B P2 is the first x-axis, with vector B Y1 = B P1- B P3 is the first y-axis, and the first z-axis is obtained through the cross product of vectors. B Z1 = B X1× B Y1.

[0065] Step S112: Adjust the direction vector of the first y-axis according to the first x-axis and the first z-axis to obtain a first coordinate system with a first feature point as the origin.

[0066] Specifically, since the coordinate axes of the coordinate system intersect each other, the direction vector of the first y-axis is adjusted as follows: B Y1 = B X1× B Z1, ultimately obtained as B P1 is the first coordinate system with the origin. T B1( B P1, B X1, B Y1, B Z1).

[0067] like Figure 3 As shown, in one embodiment, creating a first coordinate system and a second coordinate system based on feature points further includes the following steps:

[0068] Step S111: Using a second feature point as the origin, and the line connecting the second feature point to the other two second feature points as the second x and second y axes, the second z axis is obtained through vector cross product operation.

[0069] Specifically, with B P4 is the origin, and the vector B X2 = B P4- B P5 is the second x-axis, with vector B Y2 = B P4- B P6 is the second y-axis, and the second z-axis is obtained through the cross product of vectors.

[0070] Step S112: Adjust the direction vector of the second y-axis according to the second x-axis and the second z-axis to obtain a second coordinate system with a second feature point as the origin.

[0071] Specifically, since the coordinate axes of the coordinate system intersect pairwise, the direction vector of the second y-axis is adjusted: B Y2 = B X2× B Z2, ultimately obtained as B P4 is the first coordinate system with the origin. T B2( B P4 B X2, B Y2, B Z2).

[0072] In one embodiment, when obtaining the second center point position of the product in the second coordinate system based on the first center point position of a reference graphic in the first coordinate system, if the reference coordinate systems are different, the point position needs to be converted first. For example... D O is the center point in the DXF graphic. First, it needs to be converted to a coordinate system T{ with the robot's base coordinate system {B} as the actual reference system.D O}=>B{ B O}, then convert it to B P1 is the coordinate system with the origin {TB1}, and B is the coordinate system of the actual reference frame. B O}=>TB1{ TB1 O} is the first center point.

[0073] Specifically, in the TB2 coordinate system, there also exist points... TB1 Points with the same coordinate values ​​on all axes TB2 For example, point P1(1, 1, 1) in coordinate system TB1 also has a point P2(1, 1, 1) in coordinate system TB2. (The last sentence appears to be incomplete and possibly refers to a different point.) TB2 O is transformed to the coordinate system TB2, which is the actual reference system of the loading robot base coordinate system {B}. TB2 O}=>B{ B O2}, this point is the second center point.

[0074] like Figure 4 As shown, in one embodiment, creating a third coordinate system by using the first center point as the origin and combining it with the second coordinate system includes the following steps:

[0075] Step S131: Using the line connecting the first center point and the endpoints of the second x and second y axes as the third x and third y axes, the third z axis is obtained through vector cross product operation.

[0076] Specifically, with B O is the origin, and the vector B X3 = B O- B P5 is the third x-axis, with vector B Y3 = B O- B P6 is the third y-axis, and the third z-axis is obtained through the cross product of vectors: B Z3 = B X3× B Y3.

[0077] Step S132: Adjust the direction vector of the third y-axis according to the third x-axis and the third z-axis to obtain the third coordinate system with the first center point as the origin.

[0078] Specifically, since the coordinate axes of the coordinate system intersect pairwise, the direction vector of the third y-axis is adjusted: B Y3 = B X3× B Z3, ultimately obtained as B The third coordinate system TB3 with O as the origin ( B O、 B X3 B Y3B Z3).

[0079] like Figure 5 As shown, in one embodiment, a fourth coordinate system is created by combining the first coordinate system with the second center point as the origin, including the following steps:

[0080] Step S133: The line connecting the second center point and the endpoints of the first x and first y axes is used as the fourth x and fourth y axes, and the fourth z axis is obtained through vector cross product operation.

[0081] Specifically, with B O2 is the origin, and the vector B X4 = B O2- B P2 is the fourth x-axis, with vector B Y4 = B O2- B P3 is the fourth y-axis, and the fourth z-axis is obtained through the cross product of vectors: B Z4 = B X4× B Y4.

[0082] Step S134: Adjust the direction vector of the fourth y-axis according to the fourth x and fourth z axes to obtain the fourth coordinate system with the second center point as the origin.

[0083] Specifically, since the coordinate axes of the coordinate system intersect pairwise, the direction vector of the fourth y-axis is adjusted: B Y4 = B X4× B Z4, ultimately obtained with B The fourth coordinate system TB4 with O2 as the origin ( B O2, B X4 B Y4 B Z4).

[0084] In one embodiment, when performing matrix multiplication on the third and fourth coordinate systems to obtain a correction operator, if the reference coordinate systems differ, the point positions need to be transformed first. For example, the gripping points in the loading area... T Z is converted to coordinate T, with the base coordinate system {B} of the loading robot as the actual reference system. T Z}=>B{ B Z}. Then, the correction operator is calculated: Δ={TB3} -1 *{TB4} represents the multiplication of two 4x4 matrices. Finally, the gripping points in the loading area are corrected according to the correction operator: B Z = B Z*Δ.

[0085] In this formula, the two matrices represent any two Cartesian coordinate systems in space. Multiplying these two matrices gives the representation of one coordinate system A in the other coordinate system B, representing a transformation of position and orientation. The representation of one coordinate system A (TB4) in the other coordinate system B (TB3) means that all points originally in coordinate system A are now described using coordinate system B. There is a fixed transformation relationship from A to B, called an operator, used to perform calculations on specific points.

[0086] It should be noted that if a point needs to be converted, then... B Z is converted to coordinates with the sewing equipment coordinate system {T} as the actual reference system, B{ B Z}=>T{ T Z}, the robot was originally in a certain posture T The robot will pick up the material at point Z, and after calibration, it will move from there in a new posture. T Material is picked up at point Z'.

[0087] in, T Z represents the gripping point in the loading area before correction, and this point contains the initial gripping position and attitude information. (In the formula...) B Z = B In Z*Δ, the right side of the equation B Z represents the coordinates before correction, and is on the left side of the equation. B Z represents the corrected coordinates. Combining this with the aforementioned correction operator, the meaning is that the coordinate system itself is first multiplied by the operator to perform a transformation, and then multiplied by... B The Z-coordinates are transformed to the base coordinate system to obtain the final coordinates.

[0088] like Figure 6 As shown, in one embodiment, a sewing feeding processing device includes a coordinate system creation module 610, a center point acquisition module 620, a calculation module 630, a correction module 640, and a trajectory generation module 650.

[0089] The coordinate system creation module 610 is used to obtain the second feature points on the product corresponding to the positions of the first feature points based on the three first feature points on the reference graphic, and to create the first coordinate system and the second coordinate system based on the feature points respectively.

[0090] The center point acquisition module 620 is used to acquire the second center point position of the product in the second coordinate system based on the first center point position of the reference graphic in the first coordinate system.

[0091] The coordinate system creation module 610 is also used to create a third coordinate system by combining the first center point as the origin of the coordinate system with the second coordinate system, and to create a fourth coordinate system by combining the second center point as the origin of the coordinate system with the first coordinate system.

[0092] The operation module 630 is used to perform matrix multiplication operations on the third and fourth coordinate systems to obtain the correction operator.

[0093] The correction module 640 is used to calculate the corrected gripping point of the feeding area based on the correction operator and the gripping point of the feeding area.

[0094] The trajectory generation module 650 is used to calculate the feeding trajectory by combining the gripping point in the feeding area and the drop point of the needle tip, and send the feeding trajectory to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

[0095] In one embodiment, the coordinate system creation module 610 is specifically used to take a first feature point as the origin, take the line connecting the first feature point and the other two first feature points as the first x and first y axes, and obtain the first z axis through vector cross product operation; adjust the direction vector of the first y axis according to the first x and first z axes to obtain a first coordinate system with a first feature point as the origin.

[0096] Using a second feature point as the origin, and the line connecting the second feature point to the other two second feature points as the second x and second y axes, the second z axis is obtained through vector cross product operation; the direction vector of the second y axis is adjusted according to the second x and second z axes to obtain a second coordinate system with a second feature point as the origin.

[0097] The line connecting the first center point to the endpoints of the second x and second y axes is used as the third x and third y axes. The third z axis is obtained through vector cross product. The direction vector of the third y axis is adjusted according to the third x and third z axes to obtain the third coordinate system with the first center point as the origin.

[0098] The line connecting the second center point to the endpoints of the first x and first y axes is used as the fourth x and fourth y axes. The fourth z axis is obtained through vector cross product. The direction vector of the fourth y axis is adjusted according to the fourth x and fourth z axes to obtain the fourth coordinate system with the second center point as the origin.

[0099] In one embodiment, a computer device is provided, which may be a smart terminal, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a sewing material feeding process.

[0100] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0101] In one embodiment, a computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps in the above method embodiments.

[0102] In one embodiment, a computer storage medium stores a computer program that, when executed by a processor, implements the steps described in the above method embodiments.

[0103] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0104] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (PROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (RDRAM), and memory bus dynamic RAM (DRAM), etc.

[0105] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification.

[0106] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sewing material feeding process, characterized in that, The method includes: Based on the three first feature points on the reference graphic, obtain the second feature points on the product corresponding to the positions of the first feature points, and create a first coordinate system and a second coordinate system based on the first feature points and the second feature points respectively; The position of the second center point of the product in the second coordinate system is obtained based on the position of the first center point of the reference graphic in the first coordinate system. A third coordinate system is created by combining the first center point as the origin with the second coordinate system, and a fourth coordinate system is created by combining the second center point as the origin with the first coordinate system. A matrix multiplication operation is then performed on the third coordinate system and the fourth coordinate system to obtain the correction operator. The corrected feeding area gripping point is calculated based on the correction operator and the feeding area gripping point; The feeding trajectory is calculated by combining the corrected feeding area gripping point and the needle tip landing point, and the feeding trajectory is sent to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

2. The sewing material feeding method according to claim 1, characterized in that, The step of creating a first coordinate system and a second coordinate system based on the first feature point and the second feature point respectively includes: Using one of the first feature points as the origin, and the line connecting the first feature point to the other two first feature points as the first x-axis and the first y-axis, the first z-axis is obtained through vector cross product operation; The direction vector of the first y-axis is adjusted based on the first x-axis and the first z-axis to obtain a first coordinate system with the first feature point as the origin.

3. The sewing material feeding method according to claim 2, characterized in that, The step of creating a first coordinate system and a second coordinate system based on the first feature point and the second feature point respectively further includes: Using one of the second feature points as the origin, and the line connecting the second feature point to the other two second feature points as the second x-axis and the second y-axis, the second z-axis is obtained through vector cross product operation; The direction vector of the second y-axis is adjusted based on the second x-axis and the second z-axis to obtain a second coordinate system with the second feature point as the origin.

4. The sewing material feeding method according to claim 3, characterized in that, The step of creating a third coordinate system by using the first center point as the origin and combining it with the second coordinate system includes: The third x-axis and third y-axis are obtained by using the line connecting the first center point to the endpoints of the second x-axis and second y-axis, and by using the vector cross product operation. The direction vector of the third y-axis is adjusted based on the third x-axis and the third z-axis to obtain a third coordinate system with the first center point as the origin.

5. The sewing material feeding method according to claim 4, characterized in that, The step of creating a fourth coordinate system by using the second center point as the origin and combining it with the first coordinate system includes: The fourth x-axis and the fourth y-axis are obtained by using the line connecting the second center point to the endpoints of the first x-axis and the first y-axis, and the fourth z-axis is obtained by the vector cross product operation. By adjusting the direction vector of the fourth y-axis based on the fourth x-axis and the fourth z-axis, a fourth coordinate system with the second center point as the origin is obtained.

6. The sewing material feeding method according to claim 5, characterized in that, The corrected feeding area gripping points include gripping position and posture information.

7. A sewing material feeding device, characterized in that, The device includes: The coordinate system creation module is used to obtain the second feature point on the product corresponding to the position of the first feature point based on the three first feature points on the reference graphic, and to create a first coordinate system and a second coordinate system based on the first feature point and the second feature point respectively. The center point acquisition module is used to acquire the second center point position of the product in the second coordinate system based on the first center point position of the reference graphic in the first coordinate system. The coordinate system creation module is also used to create a third coordinate system by combining the first center point as the origin with the second coordinate system, and to create a fourth coordinate system by combining the second center point as the origin with the first coordinate system; The computation module is used to perform matrix multiplication operations on the third coordinate system and the fourth coordinate system to obtain the correction operator; The correction module is used to calculate the corrected gripping point of the loading area based on the correction operator and the gripping point of the loading area; The trajectory generation module is used to calculate the feeding trajectory by combining the corrected feeding area gripping point and the needle tip landing point, and send the feeding trajectory to the feeding robot so that the feeding robot can feed according to the feeding trajectory.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images