A picking system applied to an automatic cutting bed

Abstract

The application provides a material picking system applied to an automatic cutting bed. The material picking system comprises: a cloth detection module configured to detect whether cloth is placed on a cutting table of the automatic cutting bed; an image acquisition module configured to acquire a table area image of the cutting table when cloth is detected to be placed on the cutting table; a track identification module configured to determine whether a cutting track exists in the table area image; and a control module configured to: in response to a determination result that the cutting track exists in the table area image, match the cutting track in the table area image with a pre-acquired reference cutting track to determine whether a to-be-processed region on the cloth is all processed, if yes, determine whether a cutting track of a processed region is closed, if yes, match an image of the processed region with a pre-acquired reference image of the processed region, if the matching is successful, control a mechanical arm to transfer a cutting piece corresponding to the processed region to a qualified product placement area on a placement table, otherwise, control the mechanical arm to transfer the cutting piece corresponding to the processed region to an unqualified product placement area on the placement table. According to the application, the problem that the existing manual material picking method applied to the automatic cutting bed is not only time-consuming and laborious, but also affects the cutting efficiency of the automatic cutting bed can be solved.

Description

Technical Field

[0001] This invention belongs to the field of automatic cutting bed material picking technology, and more specifically, relates to a material picking system applied to an automatic cutting bed. Background Technology

[0002] After cutting a piece of fabric, existing automatic cutting machines typically transfer the fabric from the cutting table to the picking table using a transmission mechanism or manual movement. After transferring the fabric to the picking table, manual picking is required. This manual picking method is not only time-consuming and labor-intensive, but also affects the cutting efficiency of the automatic cutting machine. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that the existing manual material picking method used in automatic cutting beds is not only time-consuming and labor-intensive, but also affects the cutting efficiency of automatic cutting beds.

[0004] To achieve the above objectives, the present invention provides a material picking system for use on an automatic cutting bed, the material picking system comprising:

[0005] The placement table has designated areas for qualified and unqualified products.

[0006] The fabric detection module is used to detect whether there is fabric on the cutting table of the automatic cutting bed;

[0007] The image acquisition module is used to acquire an image of the surface area of ​​the cutting table when fabric is detected to be placed on the cutting table.

[0008] The trajectory recognition module is used to determine whether there is a cutting trajectory in the image of the tabletop area;

[0009] The control module is configured as follows:

[0010] In response to the determination result that there is a cutting trajectory in the table area image, the cutting trajectory in the table area image is matched with the pre-acquired reference cutting trajectory to determine whether the processing area on the fabric has been processed. If so, it is determined whether the cutting trajectory of the processed area is closed. If closed, the image of the processed area is matched with the pre-acquired image of the processed area. If the match is successful, the first picking instruction is output; otherwise, the second picking instruction is output.

[0011] A robotic arm is used to transfer the cut piece corresponding to the processing area to the qualified product placement area in response to the first picking instruction, and to transfer the cut piece corresponding to the processing area to the unqualified product placement area in response to the second picking instruction.

[0012] Optionally, the automatic cutting bed also includes a picking station located downstream of the cutting table;

[0013] The placement platform is located downstream of the picking platform.

[0014] Optionally, the fabric detection module is configured to output an image acquisition trigger command when it detects that fabric is placed on the cutting table;

[0015] The control module is also configured to:

[0016] In response to the image acquisition trigger command, an image acquisition control command is output to enable the image acquisition module to acquire the image of the table area and send the image of the table area to the trajectory recognition module.

[0017] Optionally, the trajectory recognition module is also used to send the tabletop area image to the control module when it is determined that there is a cutting trajectory in the tabletop area image.

[0018] Optionally, the control module is also configured to:

[0019] In response to the received tabletop area image, the cutting trajectory in the tabletop area image is obtained;

[0020] In response to the judgment result that all processing areas on the fabric have been completed, the cutting trajectory of the processing area is obtained based on the table area image;

[0021] In response to the determination result that the cutting trajectory of the processed area is closed, an image of the processed area is obtained based on the table area image.

[0022] Optionally, the robotic arm includes:

[0023] The base is provided on the picking platform;

[0024] The robotic arm body has a first end connected to the base;

[0025] An adsorption plate is disposed on the second end of the main body of the robotic arm;

[0026] A vacuum adsorption device is used to provide vacuum adsorption force to the adsorption disk.

[0027] Optionally, the picking system further includes:

[0028] Waste material recycling bin;

[0029] The control module is also configured to:

[0030] In response to the cut piece transfer completion signal fed back by the robotic arm, the robotic arm is controlled to transfer the scrap fabric on the cutting table to the waste material recycling bin.

[0031] Optionally, the control module is also configured to:

[0032] In response to the judgment that the areas to be processed on the fabric have not been fully processed, the location information of the unprocessed parts of the areas to be processed is sent to the control system of the automatic cutting bed.

[0033] The beneficial effects of this invention are as follows:

[0034] The present invention relates to a material picking system for an automatic cutting bed, comprising a placement table with a qualified product placement area and a non-qualified product placement area on its table surface; a fabric detection module for detecting whether fabric is placed on the cutting table; an image acquisition module for acquiring an image of the table surface area when fabric is detected on the cutting table; a trajectory recognition module for determining whether there is a cutting trajectory in the image of the table surface area; a control module configured to match the cutting trajectory in the image of the table surface area with a pre-acquired reference cutting trajectory in response to the determination result of the presence of a cutting trajectory in the image of the table surface area to determine whether all areas to be processed on the fabric have been processed; if so, to determine whether the cutting trajectory of the processed area is closed; if closed, to match the image of the processed area with the pre-acquired image of the processed area; if the match is successful, to output a first picking command; otherwise, to output a second picking command; and a robotic arm for transferring the cut pieces corresponding to the processed area to the qualified product placement area in response to the first picking command, and for transferring the cut pieces corresponding to the processed area to the non-qualified product placement area in response to the second picking command.

[0035] As can be seen from the above, the material picking system of the present invention applied to automatic cutting beds can realize automated material picking after the automatic cutting bed has completed the cutting of a piece of fabric, thereby effectively solving the problem that the existing manual material picking method applied to automatic cutting beds is not only time-consuming and labor-intensive, but also affects the cutting efficiency of the automatic cutting bed.

[0036] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0037] The present invention can be better understood by referring to the following description taken in conjunction with the accompanying drawings, in which the same or similar reference numerals are used throughout the drawings to denote the same or similar parts.

[0038] Figure 1 A schematic block diagram of a material picking system applied to an automatic cutting bed according to an embodiment of the present invention is shown. Detailed Implementation

[0039] To enable those skilled in the art to more fully understand the technical solutions of the present invention, exemplary embodiments of the present invention will be described more comprehensively and in detail below with reference to the accompanying drawings. Obviously, the one or more embodiments of the present invention described below are merely one or more specific ways to implement the technical solutions of the present invention, and are not exhaustive. It should be understood that other ways belonging to a general inventive concept can be used to implement the technical solutions of the present invention, and should not be limited to the embodiments described exemplary. Based on one or more embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0040] Example: Figure 1 A schematic block diagram of a material picking system applied to an automatic cutting bed according to an embodiment of the present invention is shown. (Refer to...) Figure 1 The material picking system applied to an automatic cutting bed according to an embodiment of the present invention includes:

[0041] The placement table has designated areas for qualified and unqualified products.

[0042] The fabric detection module is used to detect whether there is fabric on the cutting table of the automatic cutting machine;

[0043] The image acquisition module is used to acquire images of the cutting table surface area when fabric is detected on the cutting table.

[0044] The trajectory recognition module is used to determine whether there is a cutting trajectory in the image of the table area;

[0045] The control module is configured as follows:

[0046] In response to the determination result that there is a cutting trajectory in the table area image, the cutting trajectory in the table area image is matched with the pre-acquired reference cutting trajectory to determine whether the processing area on the fabric has been completed. If so, it is determined whether the cutting trajectory of the processing area is closed. If closed, the image of the processing area is matched with the pre-acquired processing area reference image. If the match is successful, the first picking instruction is output; otherwise, the second picking instruction is output.

[0047] A robotic arm is used to transfer the cut pieces corresponding to the processing area to the qualified product placement area in response to a first picking instruction, and to transfer the cut pieces corresponding to the processing area to the unqualified product placement area in response to a second picking instruction.

[0048] Specifically, in the material picking system of the automatic cutting bed according to the present invention, when the fabric detection module detects that there is fabric on the cutting table of the automatic cutting bed, the image acquisition module acquires an image of the table surface area, and the trajectory recognition module determines whether there is a cutting trajectory in the table surface area image. The trajectory recognition module only performs a qualitative analysis on whether there is a cutting trajectory in the table surface area image, and does not specifically acquire the cutting trajectory in the table surface area image. The action of acquiring the cutting trajectory in the table surface area image will be performed in the control module.

[0049] Specifically, in this embodiment of the invention, the control module determines whether all areas to be processed on the fabric have been processed by matching the cutting trajectory in the table area image with a pre-acquired reference cutting trajectory. If the cutting trajectory in the table area image matches the pre-acquired reference cutting trajectory successfully, it means that all areas to be processed on the fabric have been processed. However, it cannot be determined whether the cut piece corresponding to the processed area is completely separated from the surrounding corner fabric. This is because the actual cutting trajectory will inevitably deviate from the reference cutting trajectory. A matching rate of 1 / 2 is sufficient to determine that all areas to be processed on the fabric have been processed, but such a successful match is not enough to indicate that the areas to be processed on the fabric have been completely processed. Therefore, after the control module determines that all areas to be processed on the fabric have been processed, it is also necessary to determine whether the areas to be processed on the fabric have been completely processed by judging whether the cutting trajectory of the processed area is closed, that is, whether the cut piece is adhered to the surrounding corner fabric at the start and end points of the cut.

[0050] Specifically, in this embodiment of the invention, the control module determines the cutting quality of the cut piece by matching the image of the area to be processed with the pre-acquired reference image of the area to be processed. If the match is successful, the cut piece is considered a qualified product; otherwise, it is considered an unqualified product.

[0051] Furthermore, in this embodiment of the invention, the automatic cutting bed also includes a material picking station disposed downstream of the cutting table;

[0052] The placement platform is located downstream of the picking platform.

[0053] Furthermore, in this embodiment of the invention, the fabric detection module is configured to output an image acquisition trigger command when it detects that fabric is placed on the cutting table;

[0054] The control module is also configured as follows:

[0055] In response to the image acquisition trigger command, an image acquisition control command is output to enable the image acquisition module to acquire an image of the table area and send the image of the table area to the trajectory recognition module.

[0056] Furthermore, in this embodiment of the invention, the trajectory recognition module is also used to send the tabletop area image to the control module when it is determined that there is a cutting trajectory in the tabletop area image.

[0057] Furthermore, in this embodiment of the invention, the control module is also configured to:

[0058] In response to the received table area image, the cutting trajectory in the table area image is obtained;

[0059] In response to the judgment that all areas to be processed on the fabric have been processed, the cutting trajectory of the processed area is obtained based on the image of the table area;

[0060] In response to the determination result that the cutting trajectory of the processed area is closed, the image of the processed area is obtained based on the image of the table area.

[0061] Furthermore, in this embodiment of the invention, the robotic arm includes:

[0062] The base is set on the material picking platform;

[0063] The main body of the robotic arm, with its first end connected to the base;

[0064] An adsorption plate is set on the second end of the main body of the robotic arm;

[0065] A vacuum adsorption device is used to provide vacuum adsorption force to the adsorption plate.

[0066] Specifically, in this embodiment of the invention, when the image of the processed area successfully matches the pre-acquired reference image of the processed area, the control module outputs a first picking instruction. The first picking instruction includes first position information of the processed area and first placement position information of the cut piece within the processed area. The robotic arm moves the suction plate to the position corresponding to the first position information according to the first picking instruction and abuts the suction plate against the cut piece within the processed area. The control module generates a first adsorption instruction when the adsorption plate abuts against the cut piece within the processed area. The vacuum adsorption device creates a negative pressure on the adsorption plate according to the first adsorption instruction to adsorb the fabric. The control module is also used to determine whether the negative pressure at the adsorption plate reaches a preset negative pressure, and generates a first transfer instruction when the negative pressure at the adsorption plate reaches the preset negative pressure. The robotic arm moves the cut piece to the position corresponding to the first placement position information, i.e., the qualified product placement area on the placement table, through the adsorption plate according to the first transfer instruction.

[0067] Furthermore, the material picking system applied to an automatic cutting bed in this embodiment of the invention also includes:

[0068] Waste material recycling bin;

[0069] The control module is also configured as follows:

[0070] In response to the cut piece transfer completion signal fed back by the robotic arm, the robotic arm is controlled to transfer the scrap fabric on the cutting table to the waste material recycling bin.

[0071] Furthermore, the control module is also configured as follows:

[0072] In response to the judgment that the processing area on the fabric is not fully processed, the location information of the unprocessed part of the processing area is sent to the control system of the automatic cutting bed.

[0073] While one or more embodiments of the present invention have been described above, those skilled in the art will recognize that the present invention can be implemented in any other form without departing from its spirit and scope. Therefore, the embodiments described above are illustrative and not restrictive, and many modifications and substitutions will be apparent to those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A material picking system for use in an automatic cutting bed, the automatic cutting bed comprising a cutting table, characterized in that, The picking system includes: The placement table has designated areas for qualified and unqualified products. The fabric detection module is used to detect whether there is fabric on the cutting table; The image acquisition module is used to acquire an image of the surface area of ​​the cutting table when fabric is detected to be placed on the cutting table. The trajectory recognition module is used to determine whether there is a cutting trajectory in the table area image. The trajectory recognition module only performs a qualitative analysis on whether there is a cutting trajectory in the table area image, and does not specifically obtain the cutting trajectory in the table area image. The control module is configured as follows: In response to the determination that a cutting trajectory exists in the tabletop area image, the cutting trajectory in the tabletop area image is matched with a pre-acquired reference cutting trajectory to determine whether all areas on the fabric to be processed have been processed. If it is determined that all areas to be processed on the fabric have been processed, then the processing of the areas to be processed on the fabric is determined by whether the cutting trajectory of the processed area is closed. If the cutting trajectory is closed, it means that the cut piece corresponding to the processed area is completely separated from the surrounding corner fabric. At this time, the image of the processed area is matched with the pre-acquired image of the processed area to determine the cutting quality of the cut piece. If the match is successful, the first picking instruction is output; otherwise, the second picking instruction is output. A robotic arm is used to transfer the cut piece corresponding to the processing area to the qualified product placement area in response to the first picking instruction, and to transfer the cut piece corresponding to the processing area to the unqualified product placement area in response to the second picking instruction.

2. The material picking system applied to an automatic cutting bed according to claim 1, characterized in that, The automatic cutting bed also includes a material picking table located downstream of the cutting table; The placement platform is located downstream of the picking platform.

3. The material picking system applied to an automatic cutting bed according to claim 2, characterized in that, The fabric detection module is configured to output an image acquisition trigger command when it detects that fabric is placed on the cutting table. The control module is also configured to: In response to the image acquisition trigger command, an image acquisition control command is output to enable the image acquisition module to acquire the image of the table area and send the image of the table area to the trajectory recognition module.

4. The material picking system for an automatic cutting bed according to claim 3, characterized in that, The trajectory recognition module is also used to send the tabletop area image to the control module when it is determined that there is a cutting trajectory in the tabletop area image.

5. The material picking system applied to an automatic cutting bed according to claim 4, characterized in that, The control module is also configured to: In response to the received tabletop area image, the cutting trajectory in the tabletop area image is obtained; In response to the judgment result that all processing areas on the fabric have been completed, the cutting trajectory of the processing area is obtained based on the table area image; In response to the determination result that the cutting trajectory of the processed area is closed, an image of the processed area is obtained based on the table area image.

6. The material picking system for an automatic cutting bed according to claim 5, characterized in that, The robotic arm includes: The base is provided on the picking platform; The robotic arm body has a first end connected to the base; An adsorption plate is disposed on the second end of the main body of the robotic arm; A vacuum adsorption device is used to provide vacuum adsorption force to the adsorption disk.

7. The material picking system for an automatic cutting bed according to claim 6, characterized in that, Also includes: Waste material recycling bin; The control module is also configured to: In response to the cut piece transfer completion signal fed back by the robotic arm, the robotic arm is controlled to transfer the scrap fabric on the cutting table to the waste material recycling bin.

8. The material picking system for an automatic cutting bed according to claim 7, characterized in that, The control module is also configured to: In response to the judgment that the areas to be processed on the fabric have not been fully processed, the location information of the unprocessed parts of the areas to be processed is sent to the control system of the automatic cutting bed.

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