Unmanned work method and system for performing traditional hand embroidery on a cut piece

Abstract

The application discloses an unmanned operation method for traditional hand embroidery on a cutting piece, and comprises the following steps: obtaining information of the cutting piece and embroidery pattern information; automatically performing color separation based on the embroidery pattern information and automatically generating embroidery technology and needle trace; determining the position of the cutting piece based on the information of a pre-constructed virtual garment production workshop and the cutting piece, determining the position of embroidery equipment capable of executing the embroidery technology based on the virtual garment production workshop and the embroidery technology, and generating a moving path based on the position of the cutting piece and the position of the embroidery equipment capable of executing the embroidery technology; transporting the cutting piece from a current position to the position of the embroidery equipment capable of executing the embroidery technology; and calling the embroidery equipment capable of executing the embroidery technology to obtain the cutting piece and perform embroidery operation. The application improves the degree of industrial automation and reduces labor costs on the basis of ensuring the quality of hand embroidery.

Description

Technical Field

[0001] This invention relates to the field of garment processing technology. More specifically, this invention relates to an unmanned operation method and system for traditional hand embroidery on cut pieces. Background Technology

[0002] Embroidery, known in ancient times as needlework, is a craft that uses a needle and colored thread to embroider designed patterns onto textiles, creating patterns through stitches. Embroidery stitches include more than ten techniques such as satin stitch, leg stitch, rib stitch, long and short stitch, French knot, flat gold thread, and sandblasting. Embroidery can also be categorized by material into silk embroidery, feather embroidery, and hair embroidery. The main uses of embroidered items include: everyday clothing, costumes for dance or opera, tablecloths, pillowcases, cushions, and other daily necessities, as well as decorative items such as screens and wall hangings.

[0003] Traditional embroidery is entirely done by hand, which is labor-intensive and time-consuming. With the acceleration of industrialization, the speed of traditional hand embroidery can no longer meet market demands, leading to the emergence of embroidery machines, which are better suited for industrial production. Embroidery machines, also known as computerized embroidery machines, are the most advanced embroidery machinery of our time, enabling high-speed and high-efficiency execution of traditional hand embroidery. To use a computerized embroidery machine, a design template must first be drawn and then input into the machine or selected directly from its template library. Various embroidery parameters are then set. Next, the embroidery piece to be embroidered needs to be manually fixed onto the embroidery hoop. Finally, the hoop can be placed on the machine table to begin embroidery. However, machine embroidery generally focuses on simple single-sided embroidery, with simple patterns and all threads of uniform thickness, lacking depth and dimension. Therefore, machine embroidery often appears stiff, lacking three-dimensionality and dynamism.

[0004] Existing technologies already include robotic arms and robotic hands. There are robotic arms such as the Da Vinci robotic arm that can replace surgeons, and robotic hands such as five-fingered humanoid hands. In addition, the following technologies were disclosed in the patents previously filed by our company: Patent application number 2023101688022 discloses a method for UGC order generation and order-driven production of clothing supply and sales. The physical product production order generated in the above method includes the user's clothing style data, which includes clothing piece size data, sewing relationship data, fabric data, etc. After knowing the clothing piece size data, sewing relationship data, and fabric data, it is not difficult to determine the production process (including sewing needle number, thread number, sewing process, sewing process including flat sewing, coverstitch, overlock, etc.) based on these data. Therefore, in fact, after the clothing style data is determined, the production process data can be determined and recorded on the physical product production order. Patent application number 202211682241.X discloses an intelligent hanging conveyor device for mass production of different styles of clothing, which can move the vehicle to the corresponding workstation using a power mechanism according to the garment order.

[0005] Based on the aforementioned known technologies, how to use robotic arms and robotic hands to replace manual labor in performing traditional hand embroidery on cut pieces is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0007] Another objective of this invention is to provide an unmanned operation method and system for traditional hand embroidery on cut pieces, which improves the level of industrial automation and reduces labor costs while ensuring the quality of hand embroidery.

[0008] To achieve these objectives and other advantages according to the present invention, an unmanned method for performing traditional hand embroidery on cut pieces is provided, comprising:

[0009] Obtain information about the cut pieces;

[0010] Obtain embroidery pattern information;

[0011] Automatic color separation and automatic generation of embroidery techniques and stitches based on embroidery pattern information;

[0012] The location of the cut pieces is determined based on the information of the pre-constructed virtual garment production workshop and the cut pieces. The location of the embroidery equipment that can perform the embroidery process is determined based on the virtual garment production workshop and the embroidery process. A movement path is generated based on the location of the cut pieces and the location of the embroidery equipment that can perform the embroidery process.

[0013] The intelligent hanging conveyor device is invoked to transport the cut piece from its current position to the embroidery equipment position where the embroidery process can be performed, following the movement path;

[0014] The embroidery equipment capable of performing the embroidery process is invoked to obtain the cut pieces from the intelligent hanging conveyor and perform the embroidery operation.

[0015] Preferably, the embroidery process includes needle properties, thread properties, and needlework techniques.

[0016] Preferably, the virtual garment production workshop is constructed using a digital twin based on the physical garment production workshop. The physical garment production workshop is equipped with multiple embroidery devices. Each embroidery device includes a first robotic arm and a second robotic arm for holding the cut pieces for stretching, and a first robotic hand and a second robotic hand for embroidering on the cut pieces held by the first and second robotic arms. The embroidery device capable of performing the embroidery process refers to the embroidery device that best matches the embroidery process used for the current stitch in the stitch sequence.

[0017] Preferably, after automatically separating colors based on embroidery pattern information and automatically generating embroidery techniques and stitches, the method further includes:

[0018] Obtain stitches that are manually adjusted based on automatically generated stitches;

[0019] The pre-built machine learning model is trained using automatically generated stitches and manually adjusted stitches, so that the machine learning model learns adjustment instructions when the automatically generated stitches are unreasonable.

[0020] The trained machine learning model is used to adjust the automatically generated stitches.

[0021] Preferably, the clamping surfaces of the clamping parts of the first and second robotic arms are equipped with pressure sensors and tension sensors to control the clamping force and tension of the cut pieces.

[0022] Preferably, the embroidery equipment also includes a camera, and the information on the cut piece includes the fabric information of the cut piece, and the embroidery pattern information includes the position information of the embroidery pattern;

[0023] A method for invoking embroidery equipment capable of performing the embroidery process to acquire cut pieces from an intelligent hanging conveyor and perform embroidery work includes:

[0024] The image of the intelligent hanging conveyor is acquired and image recognition is performed to determine the position of the cut piece on the intelligent hanging conveyor, as well as the clamping positions of the first and second robotic arms on the cut piece.

[0025] Issue a clamping command to cause the first and second robotic arms to clamp the cut pieces from the intelligent hanging conveyor device;

[0026] Based on the fabric information of the cut piece, the set clamping force and set tension applied to the cut piece by the first and second robotic arms are determined, and a tensioning command is issued to make the first and second robotic arms tension the cut piece. The pressure sensor and tension sensor data are acquired and compared with the set clamping force and set tension respectively to determine whether the tensioning is in place.

[0027] The image of the cut piece between the first and second robotic arms is acquired and image recognition is performed. The position of the embroidery pattern on the cut piece is determined based on the position information of the embroidery pattern.

[0028] The embroidery command is issued, causing the first and second robotic arms to embroider according to the automatically generated embroidery process and the stitches finally determined after manual adjustments.

[0029] Preferably, during the embroidery process, pressure sensor and tension sensor data are acquired at preset intervals. The pressure sensor and tension sensor data are compared with the set clamping force and set tension, respectively, to determine whether the cut piece is loose. If the cut piece is loose, the clamping force and / or tension applied to the cut piece by the first robotic arm and the second robotic arm are increased.

[0030] Preferably, the clamping surfaces of the clamping parts of the first and second robotic arms are provided with a silicone layer, and the surface of the silicone layer is evenly provided with a number of concave dots to increase the friction between the silicone layer and the cut piece.

[0031] The first and second robotic arms are provided with pin rings in the middle section of their index fingers, and a shearing device is also provided between the index and middle fingers;

[0032] Electromagnets are provided in the fingertips of the first and second robotic arms or the fingertips of the thumbs to attract embroidery needles when the electromagnets are energized; pressure sensors are provided on the surface of the index fingers of both the first and second robotic arms to obtain the clamping force of the first and second robotic arms on the embroidery needles respectively; silicone layers are also provided on the surface of the index fingers and the thumbs of the first and second robotic arms to increase the friction between them and the embroidery needles.

[0033] This invention also provides an unmanned operation system for traditional hand embroidery on cut pieces, comprising:

[0034] The cut piece information acquisition module is used to acquire information about the cut pieces;

[0035] The pattern information acquisition module is used to acquire embroidery pattern information;

[0036] The process stitch generation module is used to automatically separate colors and automatically generate embroidery processes and stitches based on embroidery pattern information;

[0037] The path generation module is used to determine the position of the cut piece based on the information of the pre-built virtual garment production workshop and the cut piece, determine the position of the embroidery equipment that can perform the embroidery process based on the virtual garment production workshop and the embroidery process, and generate a movement path based on the position of the cut piece and the position of the embroidery equipment that can perform the embroidery process.

[0038] The scheduling module is used to call the intelligent hanging conveyor to transport the cut piece from its current position to the embroidery equipment position where the embroidery process can be performed, according to the movement path;

[0039] The embroidery module is used to call upon embroidery equipment capable of performing the embroidery process to obtain cut pieces from the intelligent hanging conveyor and perform embroidery operations.

[0040] The present invention also provides an electronic device, characterized in that it includes: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the above-described unmanned operation method for traditional hand embroidery on a cut piece.

[0041] This invention offers at least the following advantages: By constructing a virtual garment production workshop based on digital twins, and combining it with the garment supply and sales method and intelligent hanging conveyor device developed by our company, the transfer process of cut pieces is fully automated. Furthermore, by incorporating existing robotic arm and robotic hand technologies, the stitching procedures used in the embroidery process are pre-stored in a database. After automatically generating the embroidery process and stitches, the robotic arms and robotic hands are automatically activated according to the stitch sequence to complete the embroidery work of the current stitch. Due to the comprehensive application of image recognition, digital twins, and other technologies, there is no longer a need to attach a design to the cut pieces, and the mounting can also be done with a robotic arm. Therefore, this not only simplifies the manual embroidery process but also improves the level of industrial automation, reduces labor costs, and allows for the combined use of different embroidery techniques, preserving the characteristics of traditional manual embroidery.

[0042] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0043] Figure 1 This is a flowchart of the unmanned operation method for traditional hand embroidery on cut pieces as described in this invention;

[0044] Figure 2 This is a schematic diagram of the unmanned operation system for traditional hand embroidery on cut pieces as described in this invention. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0046] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified. In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] like Figure 1 As shown, this invention provides an unmanned operation method for traditional hand embroidery on cut pieces, where traditional hand embroidery can be Suzhou embroidery, Hunan embroidery, Sichuan embroidery, Guangdong embroidery, etc., and the unmanned operation method includes:

[0048] S101. Obtain information about the cut pieces;

[0049] Specifically, patent application number 2023101688022 discloses a method for UGC order generation and order-driven production of clothing supply and sales. The physical product production order generated in this method includes the user's clothing style data, which includes clothing piece size data, sewing relationship data, fabric data, etc. Therefore, piece information can be obtained through the order. Although the patent discloses clothing production orders, it is equally applicable when the order is for daily necessities such as tablecloths, pillowcases, and cushions, or decorative items such as screens and wall hangings. Here, the embroidered base fabric used to make tablecloths, pillowcases, cushions, screens, and wall hangings is also referred to as a piece.

[0050] S102, Obtain embroidery pattern information;

[0051] Specifically, the embroidery pattern can be designed and uploaded by the user, or it can be selected from a pre-set pattern library. After the user determines the embroidery pattern, he or she can choose the embroidery position on the cutting piece. Therefore, the embroidery pattern information includes not only the line outline and area color information of the embroidery pattern itself, but also the position information of the embroidery pattern on the cutting piece.

[0052] S103. Automatically separate colors and automatically generate embroidery techniques and stitches based on embroidery pattern information;

[0053] Specifically, embroidery pattern information mainly refers to the line outlines and area color information of the embroidery pattern itself. Color separation of the embroidery pattern refers to distinguishing different color blocks on the pattern to facilitate embroidery with different colored threads. Embroidery techniques include needle attributes, thread attributes, and stitch methods. The stitch is the path the needle follows during embroidery. Needle attributes include needle number (related to needle thickness), and thread attributes include material, thickness, and color.

[0054] Currently, computer-aided embroidery (CAD) systems are quite mature, providing a complete set of stitch generation tools and a relatively rich stitch library. Meanwhile, some domestic research institutions are continuously improving stitch generation algorithms. For example, the paper "Design and Application Implementation of Complex Area Embroidery Algorithms" discloses algorithms for complex area contour analysis, embroidery path search, auxiliary line generation, and simple area embroidery. These algorithms, when combined, are all aimed at generating concise and efficient stitches.

[0055] Based on existing stitch generation algorithms, it is possible to separate colors and generate stitches for embroidery pattern information. Furthermore, it is becoming increasingly clear that the embroidery techniques used to determine the stitch sequence in each step of the embroidery process can be determined based on the fabric data of the cut piece and the generated stitches.

[0056] Here, the attributes of existing embroidery needles and existing embroidery threads can be pre-entered into the database. After automatic color separation and automatic generation of stitches, appropriate embroidery techniques are generated for local stitches of different orders in the automatically generated stitches. That is, the embroidery needle attributes, embroidery thread attributes, and needlework techniques that are appropriate for the local stitches are selected from the database and associated with the local stitches.

[0057] S104. Determine the position of the cut piece based on the information of the pre-constructed virtual garment production workshop and the cut piece; determine the position of the embroidery equipment that can perform the embroidery process based on the virtual garment production workshop and the embroidery process; and generate a movement path based on the position of the cut piece and the position of the embroidery equipment that can perform the embroidery process.

[0058] Specifically, the virtual garment production workshop is constructed using a digital twin based on the physical garment production workshop. The virtual garment production workshop is a virtual model generated using image recognition, laser ranging, and manual calibration. IoT location sensors are then used to enhance monitoring of key locations. To prevent changes in location information due to aging, vibration, or human error during production, global structured light cameras, global laser rangefinders, microwave rangefinders, and other devices are installed for real-time monitoring. The sensor information is comprehensively processed, and the digital twin world is adjusted in real time to ensure a one-to-one correspondence between the digital twin world and the real workshop. When necessary, the system will automatically call for manual service to handle the situation. The manual processing process and results are recorded into a machine learning network to continuously improve the system's automation and accuracy.

[0059] The virtual garment production workshop includes 3D models of a physical garment production workshop, an intelligent hanging conveyor system (disclosed in patent application number 202211682241.X, and will not be described further here), garment components (including cut pieces), and various garment production equipment (including embroidery equipment). It also includes the location information of the intelligent hanging conveyor system, garment components, and various garment production equipment within the physical workshop, device information for the intelligent hanging conveyor system, and equipment information for each garment production device. In this embodiment, the physical garment production workshop is equipped with multiple embroidery machines. Correspondingly, the location and equipment information of each embroidery machine are also recorded in the virtual garment production workshop. This equipment information includes the embroidery technique currently being used by each embroidery machine, i.e., the attributes of the embroidery needle, the attributes of the embroidery thread, and the needlework method currently being used.

[0060] Since the embroidery process and stitches have been automatically generated in the previous step, the embroidery device that most frequently matches the embroidery process used in the current stitch sequence (i.e., the embroidery device that can perform the embroidery process) can be found among multiple embroidery devices. The location information of this embroidery device can then be located in the virtual garment production workshop. Furthermore, its position in the virtual garment production workshop can be determined based on the information of the cut piece. Therefore, generating a movement path based on the position of the cut piece and the position of the embroidery device capable of performing the embroidery process is thus achieved.

[0061] S105. The intelligent hanging conveyor device is invoked to transport the cut piece from its current position to the embroidery equipment position where the embroidery process can be performed, according to the moving path.

[0062] S106. Call the embroidery equipment capable of performing the embroidery process to obtain the cut piece from the intelligent hanging conveyor and perform the embroidery operation.

[0063] Specifically, the embroidery equipment includes a first robotic arm and a second robotic arm for clamping and stretching the cut pieces, a first robotic hand and a second robotic hand for embroidering on the cut pieces held by the first robotic arm and the second robotic arm, and also includes a camera.

[0064] Specifically, the clamping surfaces of the clamping parts of the first and second robotic arms are equipped with pressure sensors and tension sensors to control the clamping force and tension of the cut pieces.

[0065] More specifically, this step includes:

[0066] S201. Obtain an image of the intelligent hanging conveyor and perform image recognition to determine the position of the cut piece on the intelligent hanging conveyor, as well as the clamping positions of the first robotic arm and the second robotic arm on the cut piece.

[0067] Since there may be more than one piece of fabric suspended on the intelligent hanging conveyor, it is necessary to identify and remove it from the device. In traditional garment production, workers typically determine which piece of fabric is needed for the current process and then retrieve it; their role in this process is identification and material transfer. However, with the advent of camera technology, robotic arms, and image recognition technology, computers, robotic arms, and camera devices can completely replace manual labor in identification and material transfer.

[0068] Specifically, we can use a camera to take pictures of the fabric pieces suspended on the intelligent hanging conveyor, and then use a computer to perform image recognition. The image recognition information is compared with the information of the fabric pieces needed for embroidery. The matching ones are the fabric pieces needed for embroidery. Since a virtual garment production workshop based on digital twins has been built, the location information of the fabric pieces needed for embroidery in the virtual garment sewing workshop can also be determined. In addition, the location information of the embroidery pattern on the fabric piece is included in the embroidery pattern information. Therefore, we can determine the fabric pieces that the first and second robotic arms should pick up and their gripping positions on the fabric pieces. The gripping positions of the first and second robotic arms on the fabric pieces should not obscure the position of the embroidery pattern on the fabric pieces.

[0069] S202, Issue a clamping command to cause the first robotic arm and the second robotic arm to clamp the cut piece from the intelligent hanging conveyor device;

[0070] S203. Based on the fabric information of the cut piece, determine the set clamping force and set tension applied to the cut piece by the first robotic arm and the second robotic arm, issue a tensioning command to make the first robotic arm and the second robotic arm tension the cut piece, acquire the data of the pressure sensor and the tension sensor, and compare them with the set clamping force and the set tension respectively to determine whether the tensioning is in place.

[0071] Here, the coefficient of friction on the clamping surfaces of the first and second robotic arms can be measured in advance. Then, based on the material of the fabric piece, the critical force required to prevent the fabric piece from slipping off the first and second robotic arms can be calculated, thus providing the set clamping force that enables the first and second robotic arms to clamp the fabric piece. The set tension can be obtained by measuring the fabric piece during manual embroidery.

[0072] The existing fabric materials, as well as the set clamping force and set tension of the fabric, can be pre-entered into the data. After obtaining the fabric information of the cut piece, the set clamping force and set tension of the corresponding fabric can be retrieved from the database.

[0073] S204. Obtain an image of the cut piece between the first robotic arm and the second robotic arm and perform image recognition. Determine the position of the embroidery pattern on the cut piece based on the position information of the embroidery pattern.

[0074] Since embroidery needs to be done on the cut pieces, although the embroidery pattern information contains the position information of the embroidery pattern on the cut pieces, this position information is only a relative positional relationship. After the cut pieces are transported between the first robotic arm and the second robotic arm, the absolute position has changed. Therefore, it is necessary to re-determine the absolute position of the cut pieces through image recognition, so as to calculate the position of the embroidery pattern on the cut pieces.

[0075] S205. Issue embroidery instructions to cause the first and second robotic arms to embroider according to the automatically generated embroidery process and the stitches finally determined after manual adjustment.

[0076] Here, the motion program of the robotic arm corresponding to the needlework can be preset. The motion programs of different needlework are saved in the needlework library. When the needlework is determined by the embroidery process, the corresponding motion program is retrieved from the needlework library and loaded onto the robotic arm so that the robotic arm can perform the needlework action.

[0077] The stitches here include known embroidery stitches such as straight stitch, satin stitch, rib stitch, long and short stitch, finger stitch, flat gold stitch, and sand stitch.

[0078] Because different embroidery techniques may need to be performed on different embroidery machines according to the stitch sequence during the embroidery process, steps S104 to S106 may need to be repeated multiple times. However, this setup allows an embroidery machine to work with the same embroidery technique for a long time, avoiding frequent changes in embroidery techniques and reducing the time spent manually adjusting the embroidery machine.

[0079] In the above embodiments, after constructing a virtual garment production workshop based on digital twins, and combining the garment supply and sales method and intelligent hanging conveyor device developed by our company, the transfer process of cut pieces is fully automated. At the same time, combined with existing robotic arm and robotic hand technologies, the stitching procedures used in the embroidery process are saved in the database in advance. After automatically generating the embroidery process and stitches, the robotic arms and robotic hand technologies are automatically activated according to the stitch sequence to complete the embroidery work of the current stitch according to the embroidery process. Due to the comprehensive application of multiple technologies such as image recognition and digital twins, there is no need to put a draft on the cut pieces, and the hooping can also be completed by robotic arms. Therefore, it not only simplifies the manual embroidery process, but also improves the degree of industrial automation, reduces labor costs, and robotic arm embroidery can use different embroidery techniques in combination, preserving the characteristics of traditional manual embroidery.

[0080] In another embodiment, after automatically separating colors based on embroidery pattern information and automatically generating embroidery techniques and stitches, the method further includes:

[0081] Obtain stitches that are manually adjusted based on automatically generated stitches;

[0082] The pre-built machine learning model is trained using automatically generated stitches and manually adjusted stitches, so that the machine learning model learns adjustment instructions when the automatically generated stitches are unreasonable.

[0083] The trained machine learning model is used to adjust the automatically generated stitches.

[0084] During the execution of the above embodiments, the results are manually adjusted through machine learning in order to more intelligently achieve the automatic completion of the stitch generation adjustment process without human supervision.

[0085] In another embodiment, during the embroidery process, pressure sensor and tension sensor data are acquired every preset time interval. The pressure sensor and tension sensor data are compared with the set clamping force and the set tension to determine whether the cut piece is loose. If the cut piece is loose, the clamping force and / or tension applied to the cut piece by the first robotic arm and the second robotic arm are increased.

[0086] During the embroidery process, prolonged stretching can easily deform the fabric, causing a decrease in tension. Reduced tension can lead to distorted embroidery patterns. Therefore, by periodically comparing and analyzing data from pressure and tension sensors, it's possible to determine if the stretching is loose. If it is, the tension is increased. This ensures that the stretching remains optimal throughout the embroidery process, thus improving embroidery quality.

[0087] In another embodiment, the clamping surfaces of the clamping parts of the first and second robotic arms are provided with a silicone layer, and the surface of the silicone layer is evenly provided with a plurality of dimples to increase the friction between the silicone layer and the cut piece.

[0088] The first and second robotic arms have pin rings in the middle of their index fingers, and a shearing device is also provided between the index and middle fingers.

[0089] For thicker fabrics, a thimble ring can be installed in the middle of the index finger of the robotic arm, and the robotic arm can be programmed with a thimble action. During the embroidery process, after a task on one embroidery machine is completed, the embroidery thread needs to be cut. Therefore, a cutting device can be installed between the index and middle fingers of the robotic arm, and the robotic arm can be programmed with a cutting action.

[0090] The first and second robotic arms are equipped with electromagnets in the fingertips of the index fingers or thumbs, which are used to attract embroidery needles when the electromagnets are energized. This makes the gripping effect of the robotic arms on the embroidery needles stronger. When the embroidery is completed or the embroidery needle needs to be replaced, the electromagnets can be de-energized, thereby causing the robotic arms to disconnect from the attraction of the embroidery needles.

[0091] Pressure sensors are installed on the surface of the index fingers of both the first and second robotic arms to obtain the clamping force of the first and second robotic arms on the embroidery needle. Here, the coefficient of friction on the fingertips of the first and second robotic arms can be measured in advance, and the critical force to prevent the embroidery needle from slipping off the first and second robotic arms can be calculated based on the material of the embroidery needle. Thus, the set clamping force that enables the first and second robotic arms to firmly grasp the embroidery needle can be given. The data from the pressure sensors on the robotic arms can be used to determine whether the first and second robotic arms have firmly grasped the embroidery needle.

[0092] The index finger and thumb surfaces of the first and second robotic arms are also provided with silicone layers to increase the friction between them and the embroidery needle.

[0093] Based on the same inventive concept, this invention also provides an unmanned operation system for traditional hand embroidery on cut pieces, comprising:

[0094] The cut piece information acquisition module is used to acquire information about the cut pieces;

[0095] The pattern information acquisition module is used to acquire embroidery pattern information;

[0096] The process stitch generation module is used to automatically separate colors and automatically generate embroidery processes and stitches based on embroidery pattern information;

[0097] The path generation module is used to determine the position of the cut piece based on the information of the pre-built virtual garment production workshop and the cut piece, determine the position of the embroidery equipment that can perform the embroidery process based on the virtual garment production workshop and the embroidery process, and generate a movement path based on the position of the cut piece and the position of the embroidery equipment that can perform the embroidery process.

[0098] The scheduling module is used to call the intelligent hanging conveyor to transport the cut piece from its current position to the embroidery equipment position where the embroidery process can be performed, according to the movement path;

[0099] The embroidery module is used to call upon embroidery equipment capable of performing the embroidery process to obtain cut pieces from the intelligent hanging conveyor and perform embroidery operations.

[0100] The module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of this invention can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0101] In the accompanying drawings of the system embodiments provided by the present invention, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0102] Based on the same inventive concept, the present invention also provides a production line for unmanned operation of traditional hand embroidery on cut pieces, comprising: an intelligent hanging conveyor device, embroidery equipment, and an unmanned operation system for traditional hand embroidery on cut pieces. The unmanned operation system for traditional hand embroidery on cut pieces uses the above-described unmanned operation method for traditional hand embroidery on cut pieces to schedule the intelligent hanging conveyor device and embroidery equipment to participate in the embroidery operation.

[0103] The present invention also provides an electronic device, characterized in that it includes: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the aforementioned unmanned operation method for traditional hand embroidery on fabric pieces. This electronic device can be any terminal device including mobile phones, laptops, desktop computers, tablets, PDAs (Personal Digital Assistants), POS (Point of Sales) terminals, in-vehicle computers, etc.

[0104] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the above-described unmanned operation method for traditional hand embroidery on cut pieces.

[0105] Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general-purpose hardware, and of course, it can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memory, special components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for the present invention, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, portable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0106] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method of unmanned work for performing traditional hand embroidery on a piece, characterized by, The method comprises the following steps: obtaining information of the cutting piece; obtaining embroidery pattern information; automatically colorizing based on the embroidery pattern information and automatically generating embroidery process and needle trace; determining the position of the cutting piece based on the pre-constructed virtual garment production workshop and the information of the cutting piece, determining the position of the embroidery equipment capable of performing the embroidery process based on the virtual garment production workshop and the embroidery process, and generating a movement path based on the position of the cutting piece and the position of the embroidery equipment capable of performing the embroidery process; calling the intelligent hanging conveying device to transport the cutting piece from the current position to the position of the embroidery equipment capable of performing the embroidery process according to the movement path; calling the embroidery equipment capable of performing the embroidery process to obtain the cutting piece from the intelligent hanging conveying device and perform the embroidery operation; wherein, after automatically colorizing based on the embroidery pattern information and automatically generating the embroidery process and the needle trace, the method further comprises the following steps: obtaining the needle trace adjusted manually based on the automatically generated needle trace; training the pre-constructed machine learning model with the automatically generated needle trace and the manually adjusted needle trace, so that the machine learning model learns the adjustment instruction when the automatically generated needle trace is unreasonable; adjusting the automatically generated needle trace by using the trained machine learning model; The virtual garment production workshop is constructed by using digital twinning according to a garment production entity workshop, the garment production entity workshop is provided with a plurality of embroidery equipment, the embroidery equipment comprises a first mechanical arm and a second mechanical arm for clamping the cutting piece to be stretched, and a first mechanical hand and a second mechanical hand for embroidering on the cutting piece clamped by the first mechanical arm and the second mechanical arm, and the embroidery equipment capable of performing the embroidery process refers to the embroidery equipment that meets the condition of the most in accordance with the needle trace sequence and the current embroidery process; The clamping surface of the clamping part of the first mechanical arm and the second mechanical arm is provided with a pressure sensor and a tension sensor for controlling the clamping force and the stretching tension of the cutting piece; The embroidery equipment further comprises a camera, and the information of the cutting piece comprises fabric information of the cutting piece, and the embroidery pattern information comprises position information of the embroidery pattern; The method of calling the embroidery equipment capable of performing the embroidery process to obtain the cutting piece from the intelligent hanging conveying device and perform the embroidery operation comprises the following steps: obtaining a picture of the intelligent hanging conveying device and performing image recognition to determine the position of the cutting piece on the intelligent hanging conveying device, and the clamping positions of the first mechanical arm and the second mechanical arm on the cutting piece respectively; issuing a clamping instruction to make the first mechanical arm and the second mechanical arm clamp the cutting piece from the intelligent hanging conveying device; determining the set clamping force and the set stretching tension of the cutting piece applied by the first mechanical arm and the second mechanical arm based on the fabric information of the cutting piece, issuing a tensioning instruction to make the first mechanical arm and the second mechanical arm stretch the cutting piece, obtaining the data of the pressure sensor and the tension sensor, and comparing them with the set clamping force and the set stretching tension respectively to determine whether the stretching is in place; obtaining a picture of the cutting piece between the first mechanical arm and the second mechanical arm and performing image recognition, and determining the position of the embroidery pattern on the cutting piece based on the position information of the embroidery pattern; issuing an embroidery instruction to make the first mechanical hand and the second mechanical hand embroider according to the needle trace finally determined by automatically generating the embroidery process and manually adjusting.

2. The method of claim 1, wherein the method is characterized by, The embroidery process includes embroidery needle attributes, embroidery thread attributes, and needle operation methods.

3. The method of claim 1, wherein the method is characterized by, During the embroidery process, the pressure sensor and the tension sensor data are acquired every preset time, and the pressure sensor and the tension sensor data are compared with the set clamping force and the set upper tension, so as to determine whether the cutting piece is loose, and if the cutting piece is loose, the clamping force and / or the upper tension applied to the cutting piece by the first mechanical arm and the second mechanical arm are increased.

4. The method of claim 1, wherein the method is characterized by, The clamping surface of the clamping part of the first mechanical arm and the second mechanical arm is provided with a silica gel layer, and a plurality of concave points are uniformly arranged on the surface of the silica gel layer, so as to increase the friction force between the cutting piece and the silica gel layer; The middle segment of the index finger of the first mechanical hand and the second mechanical hand is provided with a thimble ring, and a shearing device is arranged between the index finger and the middle finger; The electromagnetic iron is arranged in the index finger palm or the thumb palm of the first mechanical hand and the second mechanical hand, so as to adsorb the embroidery needle by electrifying the electromagnetic iron; the pressure sensor is arranged on the surface of the index finger of the first mechanical hand and the second mechanical hand, so as to acquire the clamping force of the first mechanical hand and the second mechanical hand on the embroidery needle; and the silica gel layer is arranged on the surface of the index finger and the thumb of the first mechanical hand and the second mechanical hand, so as to increase the friction force between the embroidery needle and the silica gel layer.

5. A system for the unmanned execution of traditional hand embroidery on a piece of fabric, for carrying out the method according to any one of claims 1 to 4, characterized in that, It comprises: a cutting piece information acquisition module for acquiring information of the cutting piece; a pattern information acquisition module for acquiring embroidery pattern information; a process stitch generation module for automatically color separating and automatically generating embroidery process and stitch based on the embroidery pattern information; a path generation module for determining the position of the cutting piece based on the pre-constructed virtual garment production workshop and the information of the cutting piece, determining the position of the embroidery equipment capable of executing the embroidery process based on the virtual garment production workshop and the embroidery process, and generating a moving path based on the position of the cutting piece and the position of the embroidery equipment capable of executing the embroidery process; a scheduling module for calling the intelligent hanging conveying device to transport the cutting piece from the current position to the position of the embroidery equipment capable of executing the embroidery process according to the moving path; an embroidery module for calling the embroidery equipment capable of executing the embroidery process to obtain the cutting piece from the intelligent hanging conveying device and perform embroidery work.

6. An electronic device, comprising: It comprises: at least one processor, and a memory connected with the at least one processor in communication, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to make the at least one processor execute the method in any one of claims 1-4.

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