Adjustable intelligent control equipment of ultrasonic sewing machine and control method

Abstract

The invention provides an intelligent control device and control method for an adjustable ultrasonic sewing machine, and the method comprises the steps: obtaining a first ultrasonic sewing feature through inputting a first material parameter of the ultrasonic sewing machine, a collected first sewing positioning image, and a first in-plant environment parameter; constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the corresponding first ultrasonic suturing setting parameter, and inputting a second ultrasonic suturing feature obtained by processing an input material to be sutured into the intelligent suturing control model to obtain a second ultrasonic suturing setting parameter of the material to be sutured, and according to the second ultrasonic suture setting parameter, assisting an operator to carry out ultrasonic suture control, and carrying out suture material control management. The stitching quality of the model is improved by effectively processing the stitching positioning image and combining the in-factory environment parameters and the stitching material parameters, the consumed human resources are reduced, and the fine management level of stitching is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent suturing machine control, and in particular relates to an intelligent control device and a control method for an adjustable ultrasonic suturing machine. Background Art

[0002] Ultrasonic sewing machines use high-frequency oscillation to transmit sound waves to the welding surface of the workpiece, which instantly causes the molecules of the workpiece to produce friction, reaching the melting point of the plastic, thereby achieving rapid dissolution and welding of solid materials. This welding method makes the strength of the joint close to that of a whole piece of connected materials. As long as the joint surface of the product is designed to match, it can be completely sealed.

[0003] However, in the prior art, the ultrasonic suturing machine uses a set program to straighten two rolls of different materials with a set tension, thereby performing ultrasonic suturing, and then automatically slices them according to the required size. The prior art has the following problems: it does not fully utilize the image data during suturing, and there is no effective method to effectively process the features of the image during suturing, and combine the factory environmental parameters and suturing material parameters to improve the intelligent automatic tension setting, thereby improving the suturing quality during ultrasonic suturing. It also requires a lot of human resources to set the parameters of the suturing machine for each different suturing material, resulting in a low level of refined suturing management and low suturing accuracy. Therefore, there is an urgent need for an adjustable ultrasonic suturing machine intelligent control device and control method to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes an intelligent control device and a control method for an adjustable ultrasonic suture machine.

[0005] In a first aspect of the present invention, an intelligent control method for an adjustable ultrasonic suturing machine is provided, characterized in that the method comprises:

[0006] S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter for input to the ultrasonic suture machine, and also collecting a first suture positioning image, and performing feature processing on the first suture positioning image to obtain a first suture precise positioning image;

[0007] S2. receiving the first material parameter, the first factory environment parameter and the first stitching precise positioning image and performing feature processing to obtain a first ultrasonic stitching feature;

[0008] S3. receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0009] S4. Input the second material parameter and the second factory environment parameter of the material to be sutured, collect the second suture positioning image, perform feature processing on the second suture positioning image to obtain a second suture precise positioning image, and perform feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain a second ultrasonic suture feature;

[0010] S5. Retrieve the intelligent suture control model to process the second ultrasonic suture feature to obtain second ultrasonic suture setting parameters, and the operator performs suture material control and management according to the second ultrasonic suture setting parameters.

[0011] Also provided is an intelligent control device for an adjustable ultrasonic suture machine, comprising a memory and a processor, wherein the memory stores an intelligent control program for the adjustable ultrasonic suture machine, and the processor is configured to run the intelligent control program for the adjustable ultrasonic suture machine to run the described method.

[0012] Also provided is an adjustable intelligent control system for an ultrasonic suturing machine, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that:

[0013] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suture setting parameter input into the ultrasonic suture machine;

[0014] Suture machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0015] Ultrasonic suturing image processing module: performing feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; and also performing feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0016] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0017] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0018] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain the second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

[0019] The present invention uses a simple camera to collect suture image data, fully utilizes the image data during suture, and uses an image feature processing method to extract effective features of the suture position from the image during suture. In combination with the temperature, humidity and air pressure comfort level in the factory and the relevant parameters of the material to be sutured, a model based on the Fisher criterion is used to intelligently set the parameters of the suture machine to achieve automatic setting of the tension, thereby improving the suture quality during ultrasonic suture, greatly reducing the cost of manual adjustment, and assisting the staff in setting the suture parameters, improving the level of refined management of ultrasonic suture, and greatly improving the accuracy of suture.

[0020] More embodiments and improved effects of the present invention will be further introduced in conjunction with the drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a physical picture of the adjustable ultrasonic suture machine of the present invention;

[0022] Figure 2 It is a flow chart of an intelligent control method of an adjustable ultrasonic suture machine of the present invention;

[0023] Figure 3 It is a schematic diagram of an intelligent control system of an adjustable ultrasonic suture machine of the present invention;

[0024] Figure 4 It is a schematic diagram of the pressure setting of the ultrasonic suture machine in the present invention;

[0025] Figure 5 It is a schematic diagram of the classifier based on Fisher criterion in the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0028] Ultrasonic sewing machines use high-frequency oscillation to transmit sound waves to the welding surface of the workpiece, which instantly causes the molecules of the workpiece to produce friction, reaching the melting point of the plastic, thereby achieving rapid dissolution and welding of solid materials. This welding method makes the strength of the joint close to that of a whole piece of connected materials. As long as the joint surface of the product is designed to match, it can be completely sealed.

[0029] The present invention provides an intelligent control device and a control method for an adjustable ultrasonic suturing machine.

[0030] In a first aspect of the present invention, an intelligent control method for an adjustable ultrasonic suturing machine is provided, characterized in that the method comprises:

[0031] S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter for input to the ultrasonic suture machine, and also collecting a first suture positioning image, and performing feature processing on the first suture positioning image to obtain a first suture precise positioning image;

[0032] S2. receiving the first material parameter, the first factory environment parameter and the first stitching precise positioning image and performing feature processing to obtain a first ultrasonic stitching feature;

[0033] S3. receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0034] S4. Input the second material parameter and the second factory environment parameter of the material to be sutured, collect the second suture positioning image, perform feature processing on the second suture positioning image to obtain a second suture precise positioning image, and perform feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain a second ultrasonic suture feature;

[0035] S5. Retrieve the intelligent suture control model to process the second ultrasonic suture feature to obtain second ultrasonic suture setting parameters, and the operator performs suture material control and management according to the second ultrasonic suture setting parameters.

[0036] Furthermore, the first material parameter or the second material parameter includes the type of ultrasonic suture material, the length and width of the ultrasonic suture material, the thickness of the ultrasonic suture material and the average density of the ultrasonic suture material.

[0037] Furthermore, feature processing is performed on the first suture positioning image to obtain a first suture precise positioning image obtained by processing according to the first material parameters, and feature processing is performed on the second suture positioning image to obtain a second suture precise positioning image obtained by processing according to the second material parameters; the first suture positioning image or the second suture positioning image is acquired by a color camera positioned above the suture machine.

[0038] Further, the formula for performing feature processing on the first stitching positioning image or performing feature processing on the second stitching positioning image is:

[0039]

[0040]

[0041] P C =(R, G, B)

[0042] Wherein, R, G, B are the grayscale feature values ​​of the three channels of the first stitching positioning image or the second stitching positioning image color image, |R n ≥p k R n | for R n The grayscale eigenvalue of the pixel R channel is greater than p k R n R n Pixel grayscale eigenvalue, |G n ≥p k G n |For G n The grayscale eigenvalue of the pixel G channel is greater than p k G when GN n Pixel grayscale eigenvalue, |B n ≥p k B n | for B n The grayscale eigenvalue of pixel B channel is greater than p k B n B n Pixel grayscale eigenvalue, P sr , P sg , P sb For the corresponding k R n 、p k G n 、p k B n The number of R, G, and B pixels, P C To process the first stitched precise positioning image or the second stitched precise positioning image, p kThe type of ultrasonic suture material and the average density of ultrasonic suture material were used to calculate the p k is the material coefficient.

[0043] Furthermore, the material coefficient p k The calculation formula is:

[0044]

[0045] In the formula, p k is the material coefficient, K M1 , K M2 is the type coefficient of the two materials used for ultrasonic suturing, ρ M1 , M2 is the average density of the two materials sutured by ultrasonic suture.

[0046] In this embodiment, the materials for ultrasonic suturing can be two rolls of non-woven fabrics, or two rolls of different materials such as TC cloth or other materials that need to be suturing. The two materials to be suturing are input into the machine. If it is non-woven fabric, the material coefficient is 0.126, and if it is TC cloth, the material coefficient is 0.187. The average density is measured according to relevant standards.

[0047] Furthermore, the first in-factory environmental parameter or the second in-factory environmental parameter includes temperature, humidity and air pressure comfort level in the factory where the ultrasonic suture machine is placed.

[0048] Furthermore, the air pressure comfort is calculated using the standard atmospheric pressure and the local atmospheric pressure, and the calculation formula is:

[0049]

[0050] In the formula, K p is the air pressure comfort, P N is the local atmospheric pressure, P s is standard atmospheric pressure.

[0051] Furthermore, the material parameters, the factory environment parameters and the feature vectors represented by the stitching precise positioning image are horizontally spliced ​​to obtain the ultrasonic stitching features.

[0052] The feature vector obtained here in the form of splicing is to be input into the classifier for classification.

[0053] Furthermore, the calculation formula of the intelligent suturing control model using the classifier based on the Fisher criterion is as follows:

[0054] F(X)=W T X

[0055] X is the first ultrasonic suture feature or the second ultrasonic suture feature, F(X) is the output first ultrasonic suture setting parameter or the second ultrasonic suture setting parameter, and W is the normal vector perpendicular to the hyperplane.

[0056] In this embodiment, if F(X) is less than -1, the high-level set pressure ultrasonic sewing setting parameters are used; if F(X) is greater than or equal to -1 and less than 0, the intermediate set pressure ultrasonic sewing setting parameters are used; if F(X) is equal to 0, the no set pressure ultrasonic sewing setting parameters are used; if F(K) is greater than 0, the low-level set pressure ultrasonic sewing setting parameters are used. Each ultrasonic sewing setting parameter sets a different tension for straightening the fabric, which is set by the operator according to the deviation of the straightening and sewing.

[0057] Also provided is an intelligent control device for an adjustable ultrasonic suture machine, comprising a memory and a processor, wherein the memory stores an intelligent control program for the adjustable ultrasonic suture machine, and the processor is configured to run the intelligent control program for the adjustable ultrasonic suture machine to run the described method.

[0058] Also provided is an adjustable intelligent control system for an ultrasonic suturing machine, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that:

[0059] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suture setting parameter input into the ultrasonic suture machine;

[0060] Suture machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0061] Ultrasonic suturing image processing module: performing feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; and also performing feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0062] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0063] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0064] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain the second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

[0065] The present invention uses a simple camera to collect suture image data, makes full use of the image data during suture, and uses an image feature processing method to extract effective features of the suture position of the suture image in a targeted manner, and combines the temperature, humidity and air pressure comfort in the factory and the relevant parameters of the material to be sutured, and uses a model based on the Fisher criterion to intelligently set the parameters of the suture machine to achieve automatic setting of the tension, thereby improving the suture quality during ultrasonic suture, greatly reducing the cost of manual adjustment, and assisting the staff in setting suture parameters, improving the level of refined management of ultrasonic suture, and greatly improving the accuracy of suture. Of course, it can be understood that each embodiment of the present invention can achieve one of the effects alone, and a combination of multiple embodiments of the present invention can achieve all of the above effects, but it is not required that each embodiment of the present invention achieve all of the above advantages and effects, because each embodiment of the present invention can constitute a separate technical solution and make one or more contributions to the prior art.

[0066] The structure of some modules that are not particularly specified in the present invention shall be subject to the contents recorded in the prior art. The prior art mentioned in the above background technology section and the specific embodiment section of the present invention can be used as a part of the present invention to understand the meaning of some technical features or parameters. The present invention also provides an adjustable intelligent control system for an ultrasonic suturing machine, including a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that:

[0067] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suture setting parameter input into the ultrasonic suture machine;

[0068] Suture machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0069] Ultrasonic suturing image processing module: performing feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; and also performing feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0070] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0071] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0072] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain the second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

Claims

1. An intelligent control method for an adjustable ultrasonic suture machine, characterized in that: The method comprises: S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter for input to the ultrasonic suture machine, and also collecting a first suture positioning image, and performing feature processing on the first suture positioning image to obtain a first suture precise positioning image; S2. receiving the first material parameter, the first factory environment parameter and the first stitching precise positioning image and performing feature processing to obtain a first ultrasonic stitching feature; S3. receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter; S4. Input the second material parameter and the second factory environment parameter of the material to be sutured, collect the second suture positioning image, perform feature processing on the second suture positioning image to obtain a second suture precise positioning image, and perform feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain a second ultrasonic suture feature; S5. Retrieve the intelligent suture control model to process the second ultrasonic suture feature to obtain second ultrasonic suture setting parameters, and the operator performs suture material control and management according to the second ultrasonic suture setting parameters.

2. The intelligent control method of an adjustable ultrasonic suture machine according to claim 1, characterized in that: The first material parameter or the second material parameter includes the material type of the ultrasonic suture, the length and width of the ultrasonic suture material, the thickness of the ultrasonic suture material, and the average density of the ultrasonic suture material.

3. The intelligent control method of an adjustable ultrasonic suture machine according to claim 1, characterized in that: The first suture positioning image is feature processed to obtain a first suture precise positioning image obtained according to the first material parameter processing, and the second suture positioning image is feature processed to obtain a second suture precise positioning image obtained according to the second material parameter processing; the first suture positioning image or the second suture positioning image is acquired by a color camera positioned above the suture machine.

4. The intelligent control method of an adjustable ultrasonic suture machine as claimed in claim 3, characterized in that: Perform feature processing on the first suture positioning image or perform feature processing on the second suture positioning image.

5. The intelligent control method of an adjustable ultrasonic suture machine as claimed in claim 4, characterized in that: The first in-factory environmental parameter or the second in-factory environmental parameter includes the temperature, humidity, and air pressure comfort level in the factory where the ultrasonic suture machine is placed.

6. The intelligent control method of an adjustable ultrasonic suture machine as claimed in claim 5, characterized in that: The air pressure comfort is calculated using standard atmospheric pressure and local atmospheric pressure.

7. The intelligent control method of an adjustable ultrasonic suture machine according to claim 6, characterized in that: The material parameters, factory environment parameters and feature vectors represented by the stitching precise positioning image are horizontally spliced ​​to obtain the ultrasonic stitching features.

8. The intelligent control method of an adjustable ultrasonic suture machine according to claim 7, characterized in that: The intelligent suturing control model adopts the calculation of the classifier based on Fisher criterion.

9. An intelligent control device for an adjustable ultrasonic suture machine, comprising a memory and a processor, characterized in that: The memory stores an intelligent control program of an adjustable ultrasonic suturing machine, and the processor is configured to run the intelligent control program of the adjustable ultrasonic suturing machine to run the method described in any one of claims 1 to 8.

10. An adjustable intelligent control system for an ultrasonic suturing machine, the system implements the method according to claim 1, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that: Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suture setting parameter input into the ultrasonic suture machine; Suture machine camera function module: collects the first suture positioning image and the second suture positioning image; Ultrasonic suturing image processing module: performing feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; and also performing feature processing on the second suturing positioning image to obtain a second suturing precise positioning image, Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature; An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter; The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precise positioning image to obtain the second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

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