Garment palletizing

Abstract

A palletizing device for loading garments onto a pallet for processing includes a template pallet having an upper surface and a template collar, and an imaging device that views the pallet and collar area. The garment also has a neckline or collar. The imaging device is connected to an image processor, and the image processor identifies the area around the template collar and the garment neckline or collar, and first determines that a garment is present, and second determines that the garment neckline or collar is placed symmetrically with respect to the template collar, thereby providing an indication of proper placement of the garment on the template pallet.

Description

[0001] (Multiple) related applications

[0002] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 189,179, filed May 16, 2021, the contents of which are incorporated herein by reference in their entirety.

[0003] Technical Field and Background Technology

[0004] In some embodiments of the invention, the invention relates to garment palletizing or placing garments on pallets for processing (e.g., printing), and more specifically, but not exclusively, to the use of visual processing before and after the printing process to enhance the automation of the palletizing process and ensure quality and correct printing, respectively.

[0005] Regarding the automation of the palletizing process, the co-pending international patent application No. IL2021 / 050379 of the owners of this invention relates to the problem of symmetrical garment picking, so that the garments can then be pulled onto a pallet. It discloses a garment printing machine with a pallet or tray on which the garments are carried by the printing machine. In the past, supply involved an operator placing the garments to be printed onto the pallet. However, operators typically have very little time to flatten the garments on the pallet. A time budget of 9 seconds or less is usually provided for placing the garments in place. In recent art, an automatic gripper has been provided that picks up the garments from the rear of the pallet and pulls them across the pallet. The operator has the simpler task of placing the garments symmetrically in or in front of the gripper.

[0006] Garment grippers operate as industrial or collaborative robots and, like human operators, have limited time to place garments onto the tray. Garments are typically fed to the robot or collaborative robot, either from a pile on one side or from a human operator, and if the gripper picks up the garments in a symmetrical position, the garments will be evenly gathered onto the tray. If the garments are not placed symmetrically and smoothly on the tray, the print will be distorted. Typically, once the gripper has placed the garments on the tray, the operator has approximately two seconds to make any adjustments. Detecting asymmetry is something the human eye excels at; therefore, if it results in asymmetry, the human eye can easily detect very small changes in the distribution of areas, but this is much more difficult for machine vision to detect.

[0007] However, the camera and reference markers are not helpful in assessing the extent to which the garment sits on the tray after placement, or even whether the tray has been set up correctly for the garment.

[0008] The applicant’s co-pending U.S. Provisional Application No. 63 / 035,782, filed on June 7, 2020, relates to a modular tray in which parts can be added or removed to accommodate garments of different sizes, shapes or types.

[0009] U.S. Patent No. 10,744,799, filed on August 2, 2016, relates to a tray having a rotating flap on one side that closes on the garment once it is placed on the tray. Summary of the Invention

[0010] This embodiment uses visual processing to assess whether the tray and garment are properly positioned for printing or other processing. The neckline area, being part of the garment, is easily recognized by artificial intelligence, and the garment neckline can be compared with the tray neckline and / or reference markings to ensure symmetry between them. Other features can be checked, such as the size and structure of the tray, the size, color, and design of the garment, and whether the processed areas on the garment are transparent and smooth.

[0011] According to aspects of some embodiments of the present invention, a palletizing apparatus is provided for loading garments onto pallets for processing. The apparatus includes a template pallet, which may be configurable, having an upper surface and a template neckline (e.g., with an indicative reference mark), and garments having a collar or neckline. The apparatus also includes an imaging device and an image processor, the imaging device being positioned relative to one or more pallets to have a field of view of the one or more pallets, the field of view including a region surrounding the template neckline. The imaging device is connected to the image processor, and the image processor is configured to identify pallet settings, the region surrounding the template neckline and the garment collar or neckline, and is configured to distinguish the presence of garments and symmetrical placement of garments relative to the template neckline, thereby providing indications of pallet settings, garment characteristics, and correct placement of garments on the template pallet. For example, the image processing can determine whether the garment is centered on the pallet, whether the collar or neckline is correctly aligned, and whether the garment and pallet are indeed matched. For example, could a large-sized garment be placed on a pallet configured for a small size?

[0012] In one embodiment, the image processor is configured to define a circle around the neckline or garment neckline and determine how the circle is positioned relative to the template neckline.

[0013] Examples may include a gripper for holding and pulling garments onto a template tray, the gripper being controllable to adjust the garments for placement and rotation relative to the tray.

[0014] In one embodiment, the image processor is also configured to compare the garment on the tray with a predetermined configuration to ensure a match between the garment and a predetermined processing procedure.

[0015] In an embodiment, the process is digital printing or alternatively screen printing.

[0016] In one embodiment, the predetermined process includes a printed map for a garment of a given size and / or color and / or shape and / or knit or weave type, and the image processor is configured to confirm that the garment on the tray conforms to the given size and / or color and / or shape and / or knit or weave type.

[0017] In one embodiment, the predetermined process includes a pre-printing process for color printing on a colored background, and the image processor is configured to confirm that the garment on the tray has the correct color within permissible tolerances.

[0018] In one embodiment, a predetermined processing procedure is used for garments of a given size within the tolerances of a preset manufacturer, and an image processor is configured to confirm that the garments on the tray have a given size within the allowable tolerances.

[0019] In one embodiment, a predetermined processing procedure is designed for garments with a specified discontinuous distribution within a printing area, and an image processor is configured to confirm that the garments on the tray conform to the specified discontinuous distribution.

[0020] In one embodiment, the template tray can be configured or replaced for different configurations and garments, and the image processor is configured to verify that the current configuration and tray size are compatible with a predetermined process.

[0021] In one embodiment, the image processor is configured to compare the collar or garment neckline with the intended collar or garment neckline to verify that the garment is oriented on the tray according to the predetermined processing procedure, thereby processing the intended side of the garment and, for example, not printing an inverted image.

[0022] In one embodiment, the image processor is configured to compare the collar or garment adhesive with the intended collar or garment adhesive to verify that the garment is placed on the tray according to a predetermined procedure, thereby processing the garment on the intended side rather than inside out.

[0023] In one embodiment, the image processor is configured to verify that the processing area of ​​the garment has no garment accessories.

[0024] In one embodiment, the image processor is configured to verify that the processed area of ​​the garment is free of wrinkles.

[0025] In one embodiment, the image processor is configured to compare the printed garment with the expected result, and a corresponding predetermined process verifies that the process has been successfully applied to the garment.

[0026] In this embodiment, the imaging device is a member of a group consisting of a camera, a laser, and a LIDAR device.

[0027] According to a second aspect of the invention, a stacking method is provided for loading garments onto a pallet for processing, the method using a template pallet having an upper surface and a template neckline (with indicator markings), and the garment having a collar or neckline, the method further comprising:

[0028] Image the pallet to obtain a view of the area surrounding the template collar;

[0029] Identify the area surrounding the template neckline and garment collar or neckline from the field of vision relative to the indicator marks;

[0030] The presence of clothing is determined by visual perception; and

[0031] If clothing is present, the symmetrical placement of the collar or neckline relative to the template neckline is distinguished, thereby providing an indication of the correct placement of the clothing on the template tray.

[0032] The method may include defining a circle around a collar or garment neckline and determining how the circle is positioned relative to the template neckline and indicator marks.

[0033] This method may include using a gripper to adjust the garment to adjust its placement.

[0034] The method may include software notifications and instructions for manually adjusting the garment to allow the operator to adjust the garment's placement.

[0035] This method may include using software processing to adjust the image to position and angle it correctly on the garment before printing.

[0036] The method may include comparing the characteristics of the garments on the tray (such as size, color, type, shape) with a predetermined configuration to ensure a match between the garments and a predetermined processing procedure.

[0037] In this method, the processing is digital printing and / or screen printing.

[0038] The method may include comparing garments on a tray with preset sizes and / or colors and / or shapes and / or knitting or weaving types.

[0039] In this method, a predetermined process can be used for color printing on a colored background, and the method can therefore include: confirming that the garment on the tray has been colored.

[0040] In this method, the predetermined processing procedure can be used for garments of a given size within the manufacturer's tolerance, and the method can therefore include: confirming that the garments on the tray have a given size within the manufacturer's tolerance.

[0041] In this method, the predetermined processing procedure can be designed for garments with a specified discontinuous distribution in the printing area, and the method can therefore include: confirming that the garments on the tray conform to the specified discontinuous distribution.

[0042] In this method, the template tray can be configured or replaced for different garments, and the method may include: confirming that the current configuration or tray size is compatible with the predetermined process.

[0043] The method may include comparing a collar or garment neckline with an expected collar or garment neckline to verify that the garment is oriented on a tray according to a predetermined processing procedure, thereby processing the expected side of the garment.

[0044] This method may include verifying that there are no garment accessories in the processing area of ​​the garment.

[0045] This method may include verifying that the treated areas of the garment are free of wrinkles.

[0046] The method may include comparing the entire or every part or layer of the printed image onto the garment with a corresponding predetermined processing procedure to verify that the process has been successfully applied to the garment. The method may include using identification methods such as barcodes, RFID, or QR codes to read indications of the garment type from attached tags to determine printing job attributes or data, and uploading them to a printing processor for upcoming printing.

[0047] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as understood by one of ordinary skill in the art to which this invention relates. While similar or equivalent methods and materials to those described herein may be used in the practice or testing of embodiments of the invention, exemplary methods and / or materials are described below. In the event of conflict, the patent specification, including the definitions, will control. Furthermore, the materials, methods, and examples are illustrative only and are not necessarily limiting.

[0048] Brief description of the attached figures

[0049] This document describes some embodiments of the invention by way of example only, with reference to the accompanying drawings. Reference will now be made specifically and in detail to the drawings, with emphasis placed on the details shown as examples and intended to illustrate the discussion of embodiments of the invention. In this regard, the description of the drawings will enable those skilled in the art to clearly understand how to implement embodiments of the invention.

[0050] In the attached diagram:

[0051] Figure 1 This is a simplified schematic diagram showing the pallet and imaging device of the palletizing apparatus of this embodiment, as well as the garments loaded onto the pallet;

[0052] Figure 2 This is a simplified flowchart of a process for inspecting garments symmetrically loaded onto a pallet according to an embodiment of the present invention;

[0053] Figure 3 This is a simplified flowchart of a process according to an embodiment of the present invention for comparing imaging parameters with expected parameters to ensure that the processing can be performed successfully;

[0054] Figures 4A-4D This illustrates different garment designs and various measurements that can be obtained, distinguishable through embodiments of the invention; and

[0055] Figure 5 This is a flowchart of the overall process according to an embodiment of the present invention, wherein the imaging according to this embodiment first checks the tray configuration, then checks the garment loading, and finally performs a quality check on the final result.

[0056] Figure 6 The image is taken from the imaging device of this embodiment and shows a measurement of the symmetrical position of the garment, which is expressed in the number of pixels;

[0057] Figure 7 and Figure 6 The same applies, but in this case, the measurements show the asymmetrical loading position of the garment;

[0058] Figure 8 This is a simplified illustration of the laser scanning process for scanning clothing according to an embodiment of the present invention;

[0059] Figure 9 Illustration Figure 8 The results of the scan, in which an image is formed to give the location, symmetry and thickness of the scanned area;

[0060] Figures 10A to 10C The illustration shows three simplified diagrams illustrating the use of a reflector as a contrast agent according to an embodiment of the present invention, with a correctly positioned reflector and with an incorrectly positioned reflector.

[0061] Figure 11 The illustration shows a tray with a tray component and a clearly outlined tray according to an embodiment of the present invention;

[0062] Figure 12A and 12BThese are two simplified diagrams illustrating a tray with tray components according to an embodiment of the present invention, and two diagrams using reflectors of different sizes and patterns to indicate different tray components;

[0063] Figure 13 This is a simplified diagram illustrating a tray having a tray component and a grid pattern providing contrast on the surface of the component according to an embodiment of the present invention;

[0064] Figure 14 This is a simplified diagram illustrating a camera positioned appropriately above a tray according to an embodiment of the present invention to obtain a field of view of the tray and the clothing thereon;

[0065] Figure 15 yes Figure 2 A variation of the flowchart was modified to use a marker on the tray as the contrast agent; and

[0066] Figure 16 yes Figure 3 A variation of the flowchart was modified to use a marker on the tray as a contrast agent. Detailed Implementation

[0067] As described in the background section, in some embodiments of the invention, the invention relates to garment palletizing or placing garments on pallets for processing (e.g., printing), and more specifically, but not exclusively, to the use of visual processing to enhance the automation of the palletizing process.

[0068] This embodiment provides a palletizing device that helps determine pallet configuration, load garments onto the pallet for processing, identify job IDs from attached tags, and ultimately determine processing quality. The device includes: a configurable template pallet having a top surface and a template neckline with identification markings; and an imaging device for observing a pallet area including the neckline region. The markings are based on a light reflection pattern that allows an image processor to determine any asymmetry in the marking appearance or garment coverage. The garment has both a neckline and a collar. The imaging device is connected to the image processor, which identifies the template neckline and the area around the garment's neckline or collar, first determining the presence of the garment, and then determining whether the garment's neckline or collar is symmetrically positioned relative to the template neckline markings, thereby providing an indication of the correct placement of the garment on the template pallet and its other key attributes.

[0069] Therefore, embodiments may include: a camera on the printing press and detectable reference marks marked on the supply side of the pallet, using various methods to determine that the operator or gripper is supplying the garment correctly and symmetrically before and / or after it is placed on the pallet. Although the human eye is good at detecting asymmetry in the garment loading process, human operators may miss some problems with manually loaded garments due to fatigue and repetitive movements, as well as the angle at which human operators typically view the pallet.

[0070] Cameras and image processors can also be used, for example, in post-printing to determine the quality of the final result compared to the intended print; identifiable defects include, but are not limited to: print placement, incorrect side, print quality, incorrect image, registration, white spots, binding, color bleeding, distortion, wet touch, ink coverage, ink droplets, lint / debris, incomplete printing, heading, scattered image, garment quality, incorrect garment, fixing stains, factory defects, wrinkles / creases, missing / defective labels, scratches, and neck labels.

[0071] Before explaining at least one embodiment of the present invention in detail, it should be understood that the invention is not necessarily limited in its application to the details of the construction and arrangement of the components and / or methods set forth in the following description and / or the drawings and / or embodiments. The invention can have other embodiments or can be practiced or implemented in various ways.

[0072] Now refer to the attached diagram, Figure 1 The illustration shows a palletizing device 10 and a garment 12, and the idea is to load the garment 12 onto a template tray 14 for processing, such as printing. The device 10 includes a template tray 14 having an upper surface 16 on which the printed surface of the garment is held. A template neckline 18 allows the neckline 20 or collar of the garment to be fitted onto the template tray.

[0073] Imaging device 22 is positioned relative to the tray to have a field of view of the entire tray or at least the area 24 surrounding the template neckline and marked by dashed lines. The imaging device can be a camera or a laser imaging device, including a LiDAR device. The camera may or may not have an illumination system. The imaging device is connected to an image processor 26, which may be a dedicated computing device or a computerized control component of the garment printing machine. Image processor 26 acquires images from imaging device 22 and can specifically identify the area 24 surrounding the template neckline, which, after the garment 12 is loaded, is expected to have a garment collar symmetrically positioned around the template neckline. Markings may be placed on the tray to improve the distinction between the garment and the background, as will be discussed in more detail below. Figure 15This is illustrated in more detail below. The image processor can detect that the shirt is completely absent, or it can notice that the collar is asymmetrically placed on the template collar. Alternatively, the image processor can detect that the collar is indeed symmetrically placed around the template collar, but the shape of the collar indicates that the shirt has been placed backwards, turned over, or is incorrectly oriented for the process. In all these cases, the image processor can issue an indication of something wrong, allowing the operator to take corrective action. If the garment is held by a gripper, there may be an option to adjust the gripper until the shirt is placed symmetrically. Alternatively, taking into account the actual placement of the garment determined by the camera, the image processor can accordingly correct the position and rotation of the printhead, as well as the height of the print head, using software and correction algorithms.

[0074] Therefore, the image processor can check for correct tray configuration, the presence of garments on the trays, and whether the garments are placed symmetrically. Thus, the robot, and optionally the operator, can be provided with indications that the garments are correctly placed on the template trays. These indications can be in the form of a green light that turns red when a problem is noticed, or they can simply be a suggestion by not issuing an adverse indication or taking a corrective action. As mentioned above, automatic correction can take the form of mechanical adjustment of the garment placement on the trays or by means of software correction.

[0075] In one embodiment, the printing press or other processes can be shut down until the problem is resolved. Operators can be instructed to override the control or use an alternative tray so that processing does not stall if the image processor malfunctions, etc.

[0076] Now for reference Figure 2 , Figure 2 Instructions for image processor operation. The image processor can observe tray 30 and then operate by recognizing collar 32. (See below) Figure 15 The use of contrast agents or markings, including reflectors, is discussed in more detail. If the tray surface (including any markings thereon) is fully visible and / or no collar is found, the garment may be absent, and processing immediately leads to a negative result. If a collar is found, a high-resolution image can be taken around the collar or garment neckline 34. The image processor then determines, for example, how the image is positioned relative to the template neckline using an indicator reference surface with a known location 36. If the markings are symmetrical around the template neckline within a given tolerance, processing is permitted 38. If the markings are asymmetrical around the template neckline, an adverse indication is given for operator intervention, or corrective actions are taken, such as adjusting the gripper or image placement.

[0077] Now for reference Figure 3In addition to the above, or as an alternative embodiment, the imaging device depends on viewing the entire tray or more trays at once from an overhead field of view. A separate imaging device can obtain further views or illuminate the tray from other angles. Images can be acquired before and after the garment is loaded. Thus, the captured images can contain all tray portions that are intended to be arranged with the correctly configured tray template, and each tray portion is uniquely marked by a detectable marker such as a light reflector, and therefore can be clearly identified for further processing. The image processor then compares the acquired images with various acquired processing parameters to determine whether processing can continue, whether an adverse instruction should be given to the operator, or whether the machine controller can take some form of corrective action. If the answer is "yes," processing can continue. The image processing parameters can be obtained from the machine controller and may have to be adjusted based on the machine settings or the specific processing procedure being used. For example, in the case of printing, the procedure used may be for a specific type of garment, such as garments with long sleeves, and trays may be expected to be set up for long sleeves. Alternatively, the garment may be children's clothing, and trays may be expected to be set up for smaller sizes.

[0078] This comparison can involve the design of the garment. Therefore, these parameters can be related to a printed T-shirt. If the neckline is a dot pattern instead of a collar, the garment is clearly not a T-shirt. Therefore, the image processor can compare the garment on the tray with a predetermined configuration to ensure a match between the garment and the predetermined processing procedure.

[0079] During the printing process, the processing procedures typically include printing a map, which is designed to be printed on a garment of a specific size and / or color and / or shape. Therefore, an image processor may be required to verify that the garment on the tray conforms to a given size and / or color and / or shape. In some cases, image processing can detect the type of fabric by identifying the knit or weave type and verify that the loaded garment is the correct garment and is correctly aligned. In some embodiments, the garment may be affixed with a tag carrying an identification barcode, QR code, or RFID tag. Image processing can also identify the garment's unique ID by reading the tag with the barcode or QR code, or, if appropriate, by a reader capable of reading RFID tags.

[0080] Now for reference Figure 4A and 4B The T-shirt 70 features a design suitable for children or adult men. The basic shape of the garment indicates that it is a T-shirt, and the measurement AK can be determined by an image processor to obtain the garment's size. Figure 4C and 4DA T-shirt for an adult woman is shown, and measurements of AL (Altitude, Dimensions) can be used to determine the garment's size. Therefore, the image processor is able to determine the garment's design and size, which can be checked against printing parameters to ensure the correct garment is being printed. The parameters used in the processing program can define a given size for the garment, and a particular manufacturer can specify dimensional tolerances within any given size range. Therefore, the image processor is able to confirm that the garment on the tray has a given size within the manufacturer's tolerance range.

[0081] Similarly, the current configuration of the tray can be checked to ensure it matches the garment. As mentioned above, if a label is provided on the garment, garment details can be obtained from the label.

[0082] Now for reference Figure 5 , Figure 5 This is a flowchart of the entire loading and operation process. The pallet is moved to loading position 70. Pallet configuration is checked 72. Therefore, the pallet may have replaceable parts, such as mounting brackets for accommodating smaller children's clothing. The image processor can confirm the correctness of the current configuration of the clothing it is intended to process or the correctness of the pallet size, and, if necessary, advise the operator in case of misalignment, or automatically correct the problem in some cases.

[0083] Then, the garment is loaded onto tray 74 manually by an operator or automatically without an operator in the loop, and the garment is imaged onto the tray to determine if it is placed symmetrically, as described above 76. Other points and features can be checked at this time. Therefore, some printing processes require specific pre-printing operations. In one example, printing color on colored garments may require printing a white undercoat first before printing the color. Therefore, if the process includes a pre-printing process with a white undercoat for color printing on a colored background, the image processor can be asked to confirm that the garment on the tray is indeed colored as expected, and in turn verify that the white undercoat is printed correctly within the position and whiteness tolerances.

[0084] Printing or other processing procedures can be designed for garments with a specified discontinuous distribution (e.g., buttons, pockets, pull tabs, zippers, sewing loops, or protrusions) in the printing area, and the image processor can identify the discontinuous distribution, or can identify that the processing area (printing area) of the garment does not have such a discontinuity, or, in the case of no garment accessories such as sleeves, which may unintentionally fall onto the printing area.

[0085] Similarly, the image processor can ensure that the processed area is free of creases or wrinkles by comparing the loaded garment image with a properly loaded image used as a reference. Alternatively, the image generator and processor can use dark-field techniques with off-axis illumination, which emphasize wrinkles on flat areas.

[0086] Then perform an operation such as printing 78. The printing operation can be digital printing, such as using inkjet technology, or it can be screen printing, or any other form of printing suitable for textiles and clothing.

[0087] After the image is printed, either fully or partially, the image processor can compare the garment with the printed map to verify that the process has been successfully applied to the given garment. Print quality, including sharpness and color output, can be checked, as well as to ensure that the garment has not been damaged during processing.

[0088] Now for reference Figure 6 , Figure 6 An image taken from the imaging device of this embodiment is shown. The collar 90 of the garment 92 on the neck 94 of the tray is focused and measured in pixels in the image at distances of 96 and 98 pixels from the edge of the garment collar 90 to the marked position 100 on the tray. The number of pixels is 222 on one side and 220 on the other, not exactly the same but symmetrical within a defined tolerance. Note that the tolerance can be varied as needed.

[0089] Figure 7 and Figure 6 The same applies, but in this case, the measurements show the asymmetrical loading position of the garment. Again, the images are taken from the imaging device of this embodiment. The neckline 90 of the garment 92 on the neck 94 of the tray is again focused, and as before, measurements are taken in the image in pixels of 96 and 98 pixels from the edge of the garment neckline 90 to the marked position 100 on the tray. The number of pixels is 173 on one side and 392 on the other, which is far from symmetry.

[0090] Figure 8 This is a simplified illustration of the laser scanning process for scanning clothing according to an embodiment of the present invention. Specifically, the clothing 92 placed on a tray is scanned across the neckline 90 by laser scanning lines 102.

[0091] Figure 9 Is Figure 8 A simplified diagram of the image formed after laser scanning. Image 104 is formed, and the scan can provide the position, symmetry, and thickness of the scanned area.

[0092] Now for reference Figures 10A to 10C The image shows three views illustrating the use of a contrasting background on a tray to aid imaging and identify the location of clothing. Figure 10A In the middle, tray 200 includes light reflector 202. In Figure 10B In the tray 204, a light reflector 206 is included, which contrasts with the garments 207, which are considered to be placed symmetrically. Figure 10CIn the tray 208, there is a light reflector 210 that contrasts with the garment 212 and shows that the garment has been misplaced.

[0093] Figures 10A to 10C The contrasting background or contrasting markers are shown positioned for collar detection and therefore around the collar area of ​​the tray.

[0094] Now for reference Figure 11 , Figure 11 This is a simplified diagram illustrating a tray 220 according to an embodiment of the present invention. The tray 220 is composed of different tray components and has clear lines 222 between them. These lines themselves may be composed of different colors, line sizes, or patterns to make them easily distinguishable. The tray components and clear lines can be used by imaging to distinguish the tray from the garment.

[0095] Now for reference Figure 12A and 12B This is a simplified diagram illustrating another embodiment of a tray 230 composed of different tray components. Light reflectors 232 are disposed on the various components, and the reflectors on the different components have different sizes or are placed in different patterns (e.g., two), so that the imaging can identify the tray components.

[0096] Now for reference Figure 13 , Figure 13 This is a simplified view of a tray 240 with components 242, 244, and 246, on which inspection patterns are provided. The inspection patterns provide contrast to aid in imaging to identify the location of the garment as described above. The size of the squares in the patterns can vary to allow differentiation between different components of the tray.

[0097] Now for reference Figure 14 , Figure 14 The illustration shows a camera positioned above a tray according to an embodiment of the invention. As shown, the camera 250 is placed on an adjustable mount 251 on a digital printer or garment feeder, etc., above the tray 254 and obtains a field of view 256 of the upper surface of the tray and any garment placed thereon.

[0098] Now for reference Figure 15 , Figure 15 It is shown above Figure 2The diagram shows a simplified flowchart of the process for identifying correctly loaded garments. The same reference numerals are used for the same features. An image processor can observe a tray 30 with the garment placed on it and then operate by identifying the neckline 32 using a contrast enhancer or markers (including any of the patterns and reflectors discussed herein). If the markers are fully visible and / or the neckline is not found, the garment may not be present, and processing immediately flows to a negative result. If the neckline is found, a high-resolution image 34 can be taken around the neckline or the garment's neckline. The image processor then determines, for example, how the image is positioned relative to the template neckline using an indicator reference surface with a known location 36. If the markers are symmetrical around the template neckline within a given tolerance, processing is permitted 38. If the markers are asymmetrical around the template neckline, an adverse indication is given for operator intervention, or corrective actions are taken, such as adjusting the gripper or image placement.

[0099] Now for reference Figure 16 , Figure 16 It is shown Figure 3 A simplified flowchart is provided, which has been modified to include the use of markers or other contrast features to identify the tray configuration. The imaging device, depending on the view from above, views and acquires images of the entire tray or more than one tray at a time. Contrast features such as light reflectors and patterns can indicate the tray surface, and different patterns or sizes of patterns or contrast lines can indicate different parts of the tray. A separate imaging device can acquire further views or illuminate the tray from other angles. Images can be acquired before and after the garment is loaded. Therefore, the captured images can contain all tray portions that the correctly configured tray template is intended to be arranged, and each tray portion is uniquely marked by a detectable marker such as a light reflector, and thus can be clearly identified for further processing. The image processor then compares the acquired images with various acquired processing parameters to determine whether the tray is correctly configured so that processing can continue, whether an adverse instruction should be given to the operator, or whether the machine controller can take some form of corrective action. If the answer is "yes," processing can continue. The image processing parameters can be obtained from the machine controller and may have to be adjusted based on the machine settings or the specific processing procedure being used. For example, in the case of printing, the process used may be for a specific type of garment, such as garments with long sleeves, and a tray can be expected to be set up for long sleeves. Alternatively, the garment may be children's clothing, and a tray can be expected to be set up for smaller sizes.

[0100] It is anticipated that many related garment processing, textile printing and imaging technologies will be developed during the lifetime from the maturity of this application to a patent, and the scope of these and other terms herein is intended to include all such prior new technologies.

[0101] The terms “comprises,” “comprising,” “includes,” “including,” “have,” and their variations mean “including but not limited to.”

[0102] The term "composed of" means "including and limited to".

[0103] As used herein, the singular forms “a”, “an”, and “the” include the plural forms unless the context clearly specifies otherwise.

[0104] It should be understood that certain features of the invention, for clarity, may be described in the context of a single embodiment or provided in combination with a single embodiment, and this description should be construed as if such embodiments were explicitly set forth herein. Conversely, various features of the invention, described briefly in the context of a single embodiment, may also be provided individually or in any suitable sub-combination or suitably in any other described embodiment of the invention, and this description should be construed as if such individual embodiments, sub-combinations, and modified embodiments were explicitly set forth herein. Certain features described in the context of various embodiments should not be considered essential features of those embodiments unless the absence of such elements would render the embodiment invalid.

[0105] Although the invention has been described in conjunction with specific embodiments thereof, it will be apparent to those skilled in the art that many alternatives, modifications, and variations will be readily apparent. Therefore, it is intended to include all such alternatives, modifications, and variations that conform to the spirit and broad scope of the appended claims.

[0106] The applicant intends that all publications, patents, and patent applications mentioned in this specification are incorporated herein by reference in their entirety, just as each individual publication, patent, or patent application is specifically and individually indicated for inclusion herein by reference. Furthermore, any reference or identification of any reference in this application shall not be construed as an admission that such reference is prior art to the present invention. The use of section headings should not be construed as an inherent limitation. Moreover, any prior art documents of this application are incorporated herein by reference in their entirety.

Claims

1. A palletizing apparatus for ensuring that garments are correctly loaded onto pallets for processing, the garments having a collar or neckline, the apparatus comprising: a. A configurable tray having a top surface and a template collar, the template collar including at least one identification mark; b. An imaging device positioned relative to the configurable tray to have a field of view of the configurable tray, the field of view including one or more of the area surrounding the template neckline, the at least one identification mark, and at least a portion of the garment; c. An image processor connected to the imaging device; The image processor is configured as follows: i. Identify one or more of the area surrounding the template neckline, the at least one identification mark, and at least a portion of the garment; ii. Evaluate the placement of the garment collar and / or neckline relative to the template neckline and the at least one identification mark; iii. Provide instructions and / or corrective actions for the proper placement of the garment on the configurable tray, thereby ensuring that the garment is properly loaded.

2. The palletizing device according to claim 1, wherein, The image processor is configured to define a circle around the collar or the neckline of the garment, and to determine how the circle is positioned relative to the template neckline and the at least one identification mark.

3. The palletizing apparatus of claim 1 further includes a gripper for holding the garment and pulling the garment onto the configurable tray, the gripper being controllable to adjust the garment to adjust the placement of the garment before or after loading the garment.

4. The palletizing device according to claim 1, wherein, The image processor is also configured to compare the garment on the configurable tray with a predetermined configuration to ensure a match between the garment and / or the configurable tray and a predetermined process.

5. The palletizing device according to claim 3, wherein, The process is a member of a group consisting of digital printing and screen printing.

6. The palletizing device according to claim 4, wherein, The predetermined processing procedure includes a printed map for a garment of a given size and / or color and / or shape and / or knit or weave type, and the image processor is configured to confirm that the garment on the configurable tray conforms to the given size and / or color and / or shape and / or knit or weave type.

7. The palletizing device according to claim 4, wherein, The predetermined processing procedure includes a pre-printing process for color printing on a colored background, and the image processor is configured to confirm that the garment on the configurable tray is colored.

8. The palletizing device according to claim 4, wherein, The predetermined processing procedure is used for garments of a given size within the tolerances of a preset manufacturer, and the image processor is configured to confirm that the garments on the configurable tray have the given size within the tolerances of the manufacturer.

9. The palletizing device according to claim 4, wherein, The predetermined processing procedure is designed for garments with a specified discontinuous distribution within the printing area, and the image processor is configured to confirm that the garments on the configurable tray conform to the specified discontinuous distribution.

10. The palletizing device according to claim 4, wherein, The configurable tray can be configured or replaced for different garments, and the image processor is configured to confirm that the current configuration or tray size is compatible with the predetermined processing procedure.

11. The palletizing device according to claim 4, wherein, The image processor is configured to compare the collar or garment neckline with a desired collar or garment neckline to verify that the garment is oriented on the configurable tray according to the predetermined processing procedure, thereby processing the desired side of the garment.

12. The palletizing device according to claim 4, wherein, The image processor is configured to verify that there are no garment accessories in the processing area of ​​the garment.

13. The palletizing device according to claim 4, wherein, The image processor is configured to verify that there are no wrinkles in the processed area of ​​the garment.

14. The palletizing device according to claim 4, wherein, The image processor is configured to compare partially or fully printed garments with a corresponding predetermined processing procedure to verify that the processing has been successfully applied to the garment.

15. The palletizing device according to claim 1, wherein, The imaging device is one of a group consisting of cameras, lasers, and LIDAR devices.

16. The palletizing device according to claim 1, wherein, The at least one identification mark includes a contrast indicator to provide contrast between the garment and the at least one surface.

17. The palletizing device according to claim 16, wherein, The contrast indicator is a member of a group consisting of the following: the geometric pattern on the surface and the light reflector.

18. The palletizing device according to claim 1, wherein, The device includes a laser imaging device configured to perform a laser scanning process that scans the garment, allowing the identification to be performed.

19. The palletizing device according to claim 1, wherein, The correction action includes correcting one or more of the configuration of the configurable tray and the type of the garment.

20. A palletizing method for ensuring that garments are correctly loaded onto a pallet for processing, the garments having a collar or neckline, the method using a configurable pallet including a template neckline, the template neckline including at least one identification mark, the method comprising: a. Image the configurable tray to obtain a field of view of the configurable tray, the field of view including one or more of the area surrounding the template neckline, the at least one identification mark, and at least a portion of the garment; b. Identify, from the field of view, one or more of the area surrounding the template neckline, the at least one identification mark, and at least a portion of the garment; c. Evaluate the placement of the garment neckline and / or the neckline relative to the template neckline and the at least one identification mark; d. Provide instructions and / or corrective actions for the proper placement of the garment on the configurable tray, thereby ensuring that the garment is properly loaded.

21. The palletizing method according to claim 20, comprising: Define a circle around the collar or garment neckline, and determine how the circle is positioned relative to the template neckline and the at least one identification mark.

22. The palletizing method according to claim 20, further comprising: Use a gripper to adjust the garment to adjust its placement.

23. The palletizing method according to claim 20, further comprising: The garments on the configurable tray are compared with a predetermined configuration to ensure a match between the garments and the predetermined processing procedure.

24. The palletizing method according to claim 20, wherein, The process is a member of a group consisting of digital printing and screen printing.

25. The palletizing method according to claim 24, comprising: The garments on the configurable tray are compared with preset sizes and / or colors and / or shapes and / or knitting or weaving types.

26. The palletizing method according to claim 25, wherein, When a predetermined process is used for color printing on a colored background, the method includes: confirming that the garment on the configurable tray has the correct color.

27. The palletizing method according to claim 25, wherein, A predetermined processing procedure is used for garments of a given size within the tolerances of a preset manufacturer, and the method includes: confirming that the garments on the configurable tray have the given size within the tolerances of the manufacturer.

28. The palletizing method according to claim 23, wherein, The predetermined processing procedure is designed for garments with a specified discontinuous distribution within a printing area, and the method includes: confirming that the garments on the configurable tray conform to the specified discontinuous distribution.

29. The palletizing method according to claim 23, wherein, The configurable tray can be configured or replaced for different garments, and the method includes: confirming that the current configuration or tray size is compatible with the predetermined processing procedure.

30. The palletizing method according to claim 23, comprising: The collar or garment neckline is compared with the expected collar or garment neckline to verify that the garment is oriented on the configurable tray according to the predetermined processing procedure, thereby processing the expected side of the garment.

31. The palletizing method according to claim 20, comprising: Verify that there are no garment accessories in the processing area of ​​the garment.

32. The palletizing method according to claim 20, comprising: Verify that there are no wrinkles in the treated areas of the garment.

33. The palletizing method according to claim 20, comprising: The printed garments are compared with the corresponding predetermined processing procedures to verify that the processing has been successfully applied to the garments.

34. The palletizing method according to claim 20, wherein, The at least one identification mark includes a contrast indicator.

35. The palletizing method according to claim 20, comprising: Determine the orientation of the garment on the tray.

36. The palletizing method according to claim 20, further comprising: Use the gripper to realign the garment.

37. The palletizing method according to claim 20, further comprising: It is determined that the clothing exists within the field of vision.

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