Control method, system and terminal of automatic cutting machine

Abstract

The invention relates to a control method and system of an automatic cutting machine and a terminal, and relates to the field of automatic cutting machines, and the method comprises the steps: obtaining the surface image information of cloth in conveying before the cloth is cut; determining foreign matter features and foreign matter feature positions according to the surface image information of the cloth and a foreign matter feature library; determining a foreign matter type according to the surface image information and the foreign matter features, wherein the foreign matter type comprises a packaging bag type and a broken cloth type; based on the type of the packaging bag, the packaging bag is suspended and pushed away from the surface of the conveyed cloth by a foreign matter pushing-away method according to the foreign matter feature position; determining the foreign matter area according to the surface image information and the foreign matter features based on the broken cloth type; determining the cloth adsorption force according to the foreign matter area and the cloth material; and when and only when the cloth adsorption force is smaller than the reference blowing force, a preset blowing device is controlled by the reference blowing force to blow off the broken cloth from the surface of the conveyed cloth. The equipment has the effects of improving the foreign matter treatment efficiency and improving the equipment production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic cutting machines, and in particular to a control method, system and terminal of an automatic cutting machine. Background Art

[0002] Automatic cutting machine is a mechanical device used for cutting textiles. It is widely used in many industries such as clothing, home textiles, automotive interiors, advertising, etc. Automatic cutting machine realizes automatic cutting through a series of mechanical transmission and positioning devices.

[0003] The current automatic cutting machines can automatically transport the fabric to be cut to the cutting position and automatically cut it without excessive intervention from workers. However, during the operation of the automatic cutting machine, foreign objects such as scraps of fabric or packaging bags may fall on the surface of the fabric being transported, causing abnormalities in the subsequent cutting process. If the above situation occurs, workers are usually required to shut down the equipment and remove the foreign objects without damaging the fabric to be cut. The process is relatively cumbersome and greatly affects the production efficiency of the equipment, which needs to be improved. Summary of the invention

[0004] In order to improve the processing efficiency of foreign matter and enhance the production efficiency of equipment, the present invention provides a control method, system and terminal for an automatic cutting machine.

[0005] In a first aspect, the present invention provides a control method for an automatic cutting machine, which adopts the following technical solution: A control method for an automatic cutting machine, comprising: Before cutting the fabric, obtaining surface image information of the fabric being transported; Determine the foreign body features and foreign body feature positions according to the surface image information of the fabric and a preset foreign body feature library; Determine the type of foreign matter according to the surface image information and the characteristics of the foreign matter, and the foreign matter type includes the packaging bag type and the scrap cloth type; Based on the type of packaging bag, the packaging bag is suspended and pushed away from the surface of the conveying fabric according to the characteristic position of the foreign matter using a preset foreign matter pushing-away method; Based on the type of scrap fabric, the area of ​​the foreign matter is determined according to the surface image information and the characteristics of the foreign matter; Determine the fabric adsorption force according to the area of ​​the foreign matter and the preset fabric material; When and only when the cloth adsorption force is less than the preset reference blowing force, the preset blowing device is controlled by the reference blowing force to blow the broken cloth away from the surface of the cloth being transported.

[0006] By adopting the above technical solution, the system identifies the foreign matter features on the surface of the cloth being conveyed and analyzes the types of foreign matter features. According to different types of foreign matter features, the system adopts different processing methods to effectively deal with them. For packaging bags whose materials are inconsistent with the cloth, the packaging bags are suspended in the air and pushed away, so that the packaging bags are not easy to wear the cloth. For scraps of cloth whose materials are consistent with the cloth, the cloth is blown with air. The above-mentioned foreign matter feature processing method is highly efficient and can greatly improve the production efficiency of the equipment.

[0007] Optional foreign body push-off methods include: Determine the center position of the foreign object, the high point position of the foreign object, and the shortest vertical distance between the high point position of the foreign object and the edge of the foreign object according to the surface image information and the characteristics of the foreign object; Control the clamping device to clamp at the high point of the foreign object and lift it according to the hanging distance, and obtain the lifting state image after the foreign object feature is lifted; Determine the lifting gap position between the foreign body feature and the fabric according to the lifting state image; According to the center position of the foreign body, the lifting gap position and the preset equipment installation position of the blowing device, the rebound blowing position where the blowing device blows air to the fabric to rebound the airflow to the center position of the foreign body is determined; Determine the push-off path according to the characteristic position of the foreign body and the preset edge position of the fabric; After the foreign body feature is lifted, the clamping device is controlled to move along the push-away path, and the blowing device is controlled to blow air to the rebound blowing position to suspend the foreign body feature.

[0008] Optionally, when the cloth adsorption force is not less than the reference blowing force, the method for handling large pieces of cloth includes: When the cloth adsorption force is not less than the reference blowing force, the contour of the foreign object is determined according to the surface image information and the characteristics of the foreign object; Determine all the vertex positions of the foreign body features according to the foreign body contour; According to the preset equipment installation position of the blowing device, the vertex angle position closest to the equipment installation position is selected from all the vertex angle positions, and is defined as the grasping vertex angle position; Match the cloth area according to the reference blowing force, and determine the isolated area according to the cloth area and the preset area adjustment amount; Generate a pressing line at the grabbing vertex position according to the isolated area, and control a preset pressing device to press on the pressing line to form the grabbing vertex position of the isolated area; The blowing device is controlled by a reference blowing force to blow air to the grabbing top angle position to lift the grabbing top angle position, and the clamping device is controlled to clamp the lifted grabbing top angle position and process it by a preset residual material processing method.

[0009] Optionally, the method of clamping the warped grabbing top angle position by the clamping device includes: When blowing air at the grasping top corner position with a reference blowing force, a top corner warping image of the grasping top corner position is obtained; Determine the warping angle according to the top angle warping image; If and only if the warping angle does not fall within the preset gripping angle range, determine the angle adjustment amount according to the warping angle and the gripping angle range; Match the blowing force adjustment amount with the angle adjustment amount; The reference blowing force is corrected according to the blowing force adjustment amount to obtain the corrected blowing force; The gripping vertex angle position is blown according to the correction blowing force, and the clamping device is controlled to clamp the gripping vertex angle position within the gripping angle range.

[0010] Optional methods of waste material handling include: Generate a cutting outline according to a preset cutting path; Determine whether the cutting contour falls into the contour of the foreign body; If the cutting contour does not fall within the foreign body contour, controlling the clamping device to move the foreign body feature out of the fabric surface along a preset removal path; If the cutting contour falls into the foreign body contour, the displacement adjustment amount is determined according to the preset cutting position and the characteristic position of the foreign body; Determine the foreign body rotation angle based on the cutting contour and the foreign body contour; Determine the thickness of the foreign body according to the surface image information and the type of foreign body, and match the cutting power adjustment amount according to the thickness of the foreign body; According to the displacement adjustment amount and the foreign body rotation angle, the clamping device is controlled to horizontally displace the foreign body feature and circumferentially rotate to move the foreign body feature to a cutting position; The cutting power of the automatic cutting machine is adjusted according to the cutting power adjustment amount to cut the foreign body features and the cloth at the same time.

[0011] Optionally, there is a situation where the large pieces of fabric cannot be blown up by the blowing device. The treatment method when the large pieces of fabric cannot be blown up includes: Determine the theoretical positioning position of the foreign body feature when it is transported to the preset cutting area according to the foreign body feature position and the preset intermittent transport distance; Determine the coverage area based on the theoretical positioning position and foreign body contour; Determine, according to the coverage range and the clipping path, a coverage path segment covered by the foreign body feature in the clipping path; Determine the path thickness of the foreign body feature in the covered path segment according to the covered path segment and the foreign body feature; The power adjustment amount is cut according to the path thickness match; The cutting power of the automatic cutting machine is adjusted according to the cutting power adjustment amount to cut the foreign body features and the cloth at the same time.

[0012] Optionally, the foreign body feature is folded, which affects the recognition of the foreign body contour. The foreign body folding processing method includes: Generate a three-dimensional model of the foreign body based on the surface image information and the foreign body characteristics; Determine the lowest top point of the foreign body feature according to the three-dimensional model of the foreign body, and define the lowest point as the foreign body reference thickness; Determine the vertical height value between any point on the top of the foreign body feature and the conveyed cloth and its corresponding top coordinate according to the foreign body three-dimensional model; Based on the inconsistency between the vertical height value and the foreign body reference thickness, the abnormal thickness position is determined according to the vertical height value, the foreign body reference thickness and the top coordinates; Determine the hole entrance coordinates and hole extension angle based on the foreign body 3D model and thickness anomaly position; Determine the horizontal path closest to the characteristic edge of the foreign body according to the hole entrance coordinates; The preset insertion rod is controlled to be inserted according to the hole entrance coordinates and the hole extension angle, and the insertion rod is controlled to move horizontally along the leveling path to level the abnormal thickness position.

[0013] Optionally, also include: After the insertion rod has leveled the abnormal thickness position, the corrected image information of the foreign body features is obtained; Determine the foreign body correction contour and foreign body correction area according to the correction image information and foreign body characteristics; Replacing the foreign body contour with the foreign body correction contour and outputting the foreign body correction contour; Replace the foreign matter area with the foreign matter correction area and output the foreign matter correction area.

[0014] In the second aspect, the present application provides a control system for an automatic cutting machine, which adopts the following technical solution: A control system for an automatic cutting machine, comprising: An acquisition module, used to acquire surface image information, lifting state image, top corner warping image and correction image information of the fabric; A memory for storing a program of any of the above-mentioned control methods for the automatic cutting machine; The program in the memory can be loaded and executed by the processor to realize a control method of an automatic cutting machine.

[0015] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any of the above-mentioned control methods for automatic cutting machines.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: 1. The system identifies the features of foreign matter on the surface of the conveyed fabric and analyzes the types of foreign matter features. The system uses different processing methods to effectively deal with different types of foreign matter features. For packaging bags whose materials are inconsistent with the fabric, the packaging bags are suspended and pushed away, so that the packaging bags are not easy to wear the fabric. For scraps of fabric whose materials are consistent with the fabric, the fabric is blown by air. The above-mentioned processing methods for foreign matter features are highly efficient and can greatly improve the production efficiency of the equipment. 2. For foreign body features that cannot be completely blown up by the air blowing device, the system presses the foreign body through the pressing device to form an isolated grabbing top angle position, then blows air to the grabbing top angle position through the air blowing device to lift it up to a certain angle, and finally clamps the lifted grabbing top angle position through the clamping device, thereby achieving the grabbing of foreign body features that cannot be completely blown up by the air blowing device; 3. Compare the outline of the foreign body feature with the cutting path set by the system to determine whether the foreign body feature can be used to produce products again; if it can be reused, overlap it with the fabric at the cutting position and cut it synchronously; if it cannot be reused, there is no need to adjust the placement of the foreign body feature at the cutting position, and directly adjust the cutting power to cut the foreign body feature and the fabric without considering whether it will damage the foreign body feature. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a method flow chart of a control method of an automatic cutting machine according to an embodiment of the present invention; Figure 2 is a method flow chart of a foreign body pushing method according to an embodiment of the present invention; Figure 3 is a method flow chart of a method for processing large pieces of cloth according to an embodiment of the present invention; Figure 4 is a flow chart of a method for clamping a warped object and grabbing a top angle position using a clamping device according to an embodiment of the present invention; Figure 5 is a method flow chart of a method for processing residual materials according to an embodiment of the present invention; Figure 6 It is a flow chart of a method for processing large pieces of cloth that cannot be blown up according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] The embodiment of the present application discloses a control method for an automatic cutting machine. The camera performs image recognition on the surface of the conveying cloth to determine whether there are foreign objects falling on the cloth surface. The system performs targeted processing according to the characteristics of the foreign objects, recycles the foreign objects that can be used, and removes the foreign objects that cannot be used from the cloth surface.

[0020] Reference Figure 1 , a control method for an automatic cutting machine comprises the following steps: Step S100: before cutting the cloth, obtaining surface image information of the cloth being transported.

[0021] The automatic cutting machine comprises a cloth conveying position and a cloth cutting position. The cloth is firstly straightened at the cloth conveying position and conveyed to the cloth cutting position, and then cut at the cloth cutting position.

[0022] The surface image information of the fabric refers to an image obtained by photographing the surface of the fabric being conveyed at the fabric conveying position, and the camera is set on the automatic cutting machine and faces the surface of the fabric at the fabric conveying position. When there is a foreign object on the surface of the fabric, the foreign object will appear in the surface image information of the fabric.

[0023] Step S101: determining foreign body features and foreign body feature positions according to surface image information of the fabric and a preset foreign body feature library.

[0024] The foreign body feature library is an image database obtained through machine learning that includes various foreign bodies that may appear on the surface of fabrics. It is pre-designed by technical personnel and will not be described in detail here.

[0025] The foreign body feature position refers to the position of the foreign body feature on the fabric surface.

[0026] The surface image information is compared and matched with the foreign body feature library to determine whether there are foreign body features in the foreign body feature library on the fabric surface. When foreign body features exist, the actual position of the foreign body features on the fabric can be determined by performing image recognition analysis on the foreign body features of the surface image information.

[0027] When determining the actual position, the position of the foreign body feature in the surface image information is first determined, and then the actual position of the foreign body feature on the fabric is determined based on the image ratio when the camera takes the image.

[0028] Step S102: determining the type of foreign matter according to the surface image information and the foreign matter characteristics, where the foreign matter types include packaging bag types and scrap cloth types.

[0029] By performing image analysis on the foreign body features in the surface image information and comparing them with the foreign body feature library, the type of foreign body can be determined, which may include packaging bags and scraps of cloth. Packaging bags are bags used to package cloth in factories, while scraps of cloth are the remaining materials after cloth is cut.

[0030] Step S1031: Based on the type of packaging bag, the packaging bag is suspended and pushed away from the surface of the conveying fabric using a preset foreign matter pushing method according to the characteristic position of the foreign matter.

[0031] If a packaging bag falls on the cloth, the system uses a foreign object pushing method to push the packaging bag at the foreign object characteristic position away from the cloth surface. The foreign object pushing method is not described here and will be described in detail in subsequent embodiments.

[0032] Step S1032: Based on the type of the scraps of fabric, determine the area of ​​the foreign matter according to the surface image information and the features of the foreign matter.

[0033] The foreign body area refers to the area of ​​the foreign body features that fall on the surface of the fabric. The foreign body area can be obtained by image recognition and analysis of the foreign body features in the surface image information.

[0034] When the foreign matter dropped on the surface of the fabric is fabric scraps, the system will carry out targeted processing according to the area of ​​the foreign matter in the fabric scraps, and will either remove them or recycle them.

[0035] Step S10321: Determine the fabric adsorption force according to the area of ​​the foreign matter and the preset fabric material.

[0036] Fabric adsorption refers to the mutual attraction between the fabric scraps and the conveyed fabric when the fabric scraps fall on the conveyed fabric. The fabric adsorption is affected by the area of ​​the foreign matter and the fabric material. The influence of the fabric material is a fixed value. The area of ​​the foreign matter determines the weight of the foreign matter. The area of ​​the foreign matter is proportional to the fabric adsorption. The larger the area of ​​the foreign matter, the greater the fabric adsorption.

[0037] Step S10322: When and only when the cloth adsorption force is less than a preset reference blowing force, the preset blowing device is controlled with the reference blowing force to blow the cloth scraps away from the surface of the cloth being transported.

[0038] The blowing device is arranged on the automatic cutting machine to blow air on the surface of the cloth, and can blow away dust or foreign matter on the surface of the cloth. The reference blowing force is the force when the blowing device blows air at the rated power, which will not be described in detail here.

[0039] When the cloth adsorption force is less than the reference blowing force, the air blowing device can directly blow up the cloth scraps to blow the cloth scraps away from the surface of the conveyed cloth.

[0040] When the cloth adsorption force is not less than the reference blowing force, it means that the blowing device cannot directly blow away the foreign body features, and the system needs to process the foreign body features by other methods. Other methods are not described here and will be described in detail in subsequent embodiments.

[0041] Reference Figure 2 The foreign body pushing method comprises the following steps: In this embodiment, the foreign body features of the packaging bag type are clamped and lifted by a clamping device, and the foreign body features are blown by a blowing device to suspend the foreign body features, so that the foreign body features are not easily damaged when they are removed from the surface of the fabric.

[0042] Step S200: determining the center position of the foreign object, the high point position of the foreign object, and the shortest vertical distance between the high point position of the foreign object and the edge of the foreign object according to the surface image information and the characteristics of the foreign object.

[0043] The center position of the foreign body refers to the center point position of the foreign body feature. The high point position of the foreign body refers to the position of the foreign body feature with the highest distance from the fabric surface. The center position of the foreign body and the high point position of the foreign body can be obtained from the surface image information through image recognition and analysis.

[0044] After the high point of the foreign body is clamped and lifted by the clamping device, the circumference of the foreign body feature will sag. The shortest horizontal distance from the high point of the foreign body to the edge of the foreign body before the foreign body feature is lifted is the hanging distance of the sagging foreign body feature. The hanging distance can be obtained by measuring the shortest distance between the high point of the foreign body and the edge of the foreign body from the surface image information.

[0045] Step S201: Control the clamping device to clamp at the high point of the foreign object and lift it according to the hanging distance, and obtain a lifted state image of the foreign object feature after being lifted.

[0046] When the foreign body feature is lifted with the hanging distance, the side of the foreign body feature with the shortest distance between the high point of the foreign body and the edge of the foreign body can be completely lifted and a gap is generated between the foreign body and the fabric.

[0047] The lifted state image refers to an image obtained by photographing the features of the lifted foreign object through a camera.

[0048] Step S202: determining the lifting gap position between the foreign body feature and the cloth according to the lifting state image.

[0049] The lifting gap position refers to the circumferential position of the gap between the foreign body feature and the fabric after the foreign body feature is lifted. The lifting gap position can be determined by identifying the gap in the lifting state image.

[0050] Step S203: determining a rebound blowing position where the blowing device blows air to the fabric to rebound the airflow to the center position of the foreign object according to the center position of the foreign object, the lifting gap position and the preset equipment installation position of the blowing device.

[0051] The equipment installation position refers to the position of the air blowing device on the automatic cutting machine. It is the installation position designed when the automatic cutting machine leaves the factory and will not be described in detail here.

[0052] In this embodiment, air is blown on the surface of the cloth by an air blowing device, and the air flow can bounce on the surface of the cloth and bounce to the bottom of the foreign body feature, so that the foreign body feature is lifted from the bottom by the air flow, so that the foreign body feature is separated from the cloth surface.

[0053] The rebound blowing position refers to the position where the blowing device blows air to the surface of the fabric. When blowing at the rebound blowing position, the airflow can rebound through the fabric to the center of the foreign body with foreign body characteristics. The rebound blowing position is determined according to the relative position relationship between the center of the foreign body, the lifting gap position and the installation position of the equipment. The airflow needs to be blown in from the lifting gap position.

[0054] Step S204: determining a push-off path according to the characteristic position of the foreign object and the preset cloth edge position.

[0055] The push-off path refers to the path through which the foreign body feature is pushed away from the fabric surface by the blowing device and the clamping device. The push-off path is the shortest straight-line distance between the foreign body feature position and the fabric edge position.

[0056] Step S205: After the foreign object feature is lifted, the clamping device is controlled to move along the push-away path, and the blowing device is controlled to blow air at the rebound blowing position to suspend the foreign object feature.

[0057] After determining the push-off path and the rebound blowing position, the clamping device controls the foreign object feature to move along the push-off path, and the blowing device always blows at the rebound blowing position while following the movement and adjustment of the foreign object feature, so that the foreign object feature is always in a floating state during the entire process of pushing the foreign object feature away from the fabric surface.

[0058] Reference Figure 3 In this embodiment, large pieces of cloth that cannot be blown away directly by the blowing device are processed. When the cloth adsorption force is not less than the reference blowing force, the method for processing large pieces of cloth includes the following steps: Step S300: When the cloth adsorption force is not less than the reference blowing force, the contour of the foreign object is determined according to the surface image information and the characteristics of the foreign object.

[0059] When the cloth adsorption force is not less than the reference blowing force, it means that the area of ​​the foreign body feature is large and the blowing device cannot directly blow away the foreign body feature. In this embodiment, the blowing device blows air at the top corner of the foreign body feature, and then the clamping device clamps the top corner of the foreign body feature to remove the foreign body feature.

[0060] The foreign body contour refers to the edge contour of the foreign body feature. The foreign body contour is obtained by image recognition and analysis of the foreign body feature from the surface image information. By identifying the foreign body contour, a position in the foreign body contour where the blowing device can blow air is found.

[0061] Step S301: determining all vertex positions of foreign object features according to the foreign object contour.

[0062] After the foreign body contour is determined, all sharp corners can be found in the foreign body contour by analyzing the foreign body contour. The sharp corners are the vertex positions in the graphic contour of the foreign body.

[0063] Step S302: According to the preset equipment installation position of the blowing device, the vertex position closest to the equipment installation position is selected from all the vertex positions, and is defined as the captured vertex position.

[0064] In this embodiment, the system selects the vertex angle position closest to the blowing device among all the vertex angle positions to facilitate the blowing device to perform blowing processing, and defines the vertex angle position mark as the grasping vertex angle position, which needs to be blown and clamped later.

[0065] Step S303: matching the cloth area according to the reference blowing force, and determining the isolated area according to the cloth area and a preset area adjustment amount.

[0066] In this embodiment, it is necessary to blow air at the grabbing top corner position through an air blowing device. In order to be able to blow the grabbing top corner position to lift up, it is necessary to press the grabbing top corner position through a pressing device so that the grabbing top corner position forms an independent top corner position that can lift up freely. By controlling the area of ​​the grabbing top corner position, the top corner position area is made smaller and can be blown up by the air blowing device.

[0067] The area of ​​the cloth that can be blown by the blowing device is proportional to the power of the blowing device. When the power of the blowing device is the reference blowing force, the area of ​​the cloth that can be blown is the cloth area.

[0068] The isolated area refers to the area of ​​the independent grabbing top angle position formed by being pressed by the pressing device. When the grabbing top angle position of the fabric area is blown with the reference blowing force, only a small angle of the top angle position can be lifted. In order to increase the lifting angle, the fabric area is corrected, and the isolated area is the fabric area after correction. The area adjustment amount is the correction amount of the fabric area, which is a parameter pre-set by the technicians and will not be described here.

[0069] Step S304: generating a pressing line at the grabbing vertex position according to the isolated area, and controlling a preset pressing device to press on the pressing line to form the grabbing vertex position of the isolated area.

[0070] After the isolated area is determined, a pressure line can be simulated and generated at the grabbing vertex position according to the isolated area. The pressure line is used as a positioning reference for the pressure device when pressing. The pressure device presses on the foreign body feature along the pressure line. The pressure line and the edge line of the vertex position of the foreign body feature can form a triangle that is easy to warp, and the area of ​​the triangle is the isolated area.

[0071] Step S305: controlling the blowing device to blow air to the gripping top angle position with a reference blowing force to lift the gripping top angle position, controlling the clamping device to clamp the lifted gripping top angle position and process it with a preset residual material processing method.

[0072] When the pressing device presses down the foreign body feature, the system controls the blowing device to blow air to the grabbing top angle position with a reference blowing force, and the grabbing top angle position can be lifted up to a certain angle. At this time, the system controls the clamping device to clamp the lifted grabbing top angle position. After clamping, the system processes the foreign body feature according to the residual material processing method. The specific residual material processing method depends on the characteristics of the foreign body feature. It will not be elaborated here and will be introduced in detail in the subsequent embodiments.

[0073] Reference Figure 4 The method of clamping the warped gripping top angle position by the clamping device comprises the following steps: In step S303, the area of ​​the gripping vertex position is controlled so that the warping angle of the gripping vertex position can be larger, but the warping angle is not precisely controlled to an angle suitable for clamping by the clamping device. In this embodiment, the warping angle of the gripping vertex position is adjusted and controlled.

[0074] Step S400: When blowing air at the grasping vertex corner position with a reference blowing force, a vertex warping image of the grasping vertex corner position is obtained.

[0075] The top corner warping image refers to an image of the top corner position of the foreign body feature captured by the camera that is warped after blowing by the blowing device.

[0076] Step S401: determining a warping angle according to a vertex warping image.

[0077] The warping angle refers to the angle of the top corner position caused by the blowing force of the blowing device. The warping angle can be obtained from the top corner warping image through image recognition analysis.

[0078] Step S402: if and only if the warping angle does not fall within the preset gripping angle range, determine the angle adjustment amount according to the warping angle and the gripping angle range.

[0079] The gripping angle range is the angle range of the corners set by the technicians to facilitate the gripping of the clamping device, which will not be elaborated here.

[0080] Compare the actual warping angle at the grabbing top angle position with the grabbing angle range. If the warping angle has fallen into the grabbing angle range, no adjustment is required. If the warping angle does not fall into the grabbing angle range, the blowing force of the blowing device needs to be fine-tuned.

[0081] The angle adjustment amount is the deviation between the warping angle and the grabbing angle range, and is also the angle amount that the warping angle actually needs to be adjusted.

[0082] Step S403: matching the blowing force adjustment amount according to the angle adjustment amount.

[0083] The blowing force adjustment refers to the adjustment amount of the blowing force of the blowing device to adjust the warping angle to the grabbing angle range. The blowing force adjustment is proportional to the angle adjustment. The greater the angle adjustment, the greater the blowing force adjustment.

[0084] Step S404: Correcting the reference blowing force according to the blowing force adjustment amount to obtain a corrected blowing force.

[0085] The corrected blowing force refers to the blowing force after the reference blowing force is corrected. The corrected blowing force is obtained by adding or subtracting the reference blowing force from the blowing force adjustment amount.

[0086] Step S405: blowing air to the gripping vertex angle position according to the correction blowing force, and controlling the clamping device to clamp the gripping vertex angle position within the gripping angle range.

[0087] After determining the correction blowing force, the system controls the blowing device to blow air to the grabbing top angle position with the correction blowing force. At this time, the warping angle of the grabbing top angle position can fall into the grabbing angle range, thereby facilitating the clamping device to clamp.

[0088] Reference Figure 5 , the waste material treatment method comprises the following steps: In this embodiment, how to handle the foreign matter characteristics is determined based on whether the foreign matter characteristics can be recycled to produce new products.

[0089] Step S500: Generate a cutting outline according to a preset cutting path.

[0090] The cutting path refers to the cutting movement path of the processing head on the fabric when the automatic cutting machine cuts the fabric at the fabric cutting position. The processing head can cut the shape preset by the system after moving along the cutting path. The cutting path is a parameter pre-entered and set by the technician in the system, which will not be described here.

[0091] The cutting contour refers to the outline shape of the fabric product formed by cutting. The system can directly obtain the cutting contour by retrieving and analyzing the cutting path.

[0092] Step S501: Determine whether the cutting contour falls within the foreign body contour.

[0093] Compare the cutout outline to the foreign body outline to determine how to handle the foreign body features.

[0094] Step S5011: If the cutting contour does not fall within the foreign body contour, control the clamping device to remove the foreign body features from the fabric surface using a preset removal path.

[0095] If the area of ​​the foreign body feature is not larger than the actual area of ​​the fabric product, and the cutting contour cannot completely fall into the foreign body contour, it means that the predetermined product shape cannot be cut from the foreign body feature, and the foreign body feature cannot be recycled.

[0096] The removal path is the path set by the technician for the clamping device to clamp the foreign body feature at the top angle and then move it horizontally out of the edge of the fabric, which will not be described in detail here.

[0097] When it is determined that the foreign body feature cannot be recycled, the foreign body feature is discarded, and the system controls the clamping device to directly remove the foreign body feature from the surface of the fabric.

[0098] Step S5012: If the cutting contour falls within the foreign body contour, the displacement adjustment amount is determined according to the preset cutting position and the foreign body characteristic position.

[0099] If the area of ​​the foreign body feature is larger than the actual area of ​​the fabric product, and the cutting outline can completely fall into the foreign body outline, it means that the predetermined product shape can still be cut from the foreign body feature, and the foreign body feature can be recycled and reused.

[0100] In this embodiment, after determining that the foreign body feature can be recycled, it is not possible to cut a product of a specified shape from the foreign body feature due to the displacement difference between the position of the foreign body feature and the cutting position. Therefore, the position of the foreign body feature needs to be adjusted so that the foreign body feature can be cut synchronously with the fabric when it moves with the fabric to the fabric cutting position, thereby forming a new product.

[0101] The displacement adjustment amount refers to the amount of horizontal displacement for adjusting the characteristic position of the foreign body. The displacement adjustment amount is the coordinate difference between the cutting position and the characteristic position of the foreign body.

[0102] The cutting position is the cloth cutting position in the automatic cutting machine, which is the position where the foreign body feature is cut.

[0103] Step S50121: Determine the foreign body rotation angle according to the cutting contour and the foreign body contour.

[0104] To cut out the specified product on the foreign body feature, in addition to adjusting the foreign body feature position to the cutting position, the foreign body contour needs to correspond to the cutting contour so that the cutting path corresponding to the cutting contour can fall into the foreign body contour. The foreign body rotation angle refers to the angle at which the foreign body feature is rotated to make the foreign body contour correspond to the cutting contour. The foreign body rotation angle can be obtained by analyzing the cutting contour and the foreign body contour.

[0105] Step S50122: Determine the thickness of the foreign matter according to the surface image information and the type of the foreign matter, and match the cutting power adjustment amount according to the thickness of the foreign matter.

[0106] Since the foreign body features are covered on the fabric when the fabric is cut, the cutting power of the automatic cutting machine needs to be adjusted so that the automatic cutting machine can cut the foreign body features and the fabric together at the same time to avoid the situation where the fabric cannot be cut.

[0107] The thickness of foreign matter can be determined by image recognition analysis of the type of foreign matter in the surface image information.

[0108] The cutting power adjustment amount is the adjustment amount of the cutting power of the automatic cutting machine. The cutting power adjustment amount is proportional to the thickness of the foreign matter. The thicker the foreign matter, the greater the cutting power adjustment amount.

[0109] Step S50123: Control the clamping device to horizontally displace the foreign object feature and circumferentially rotate the foreign object feature according to the displacement adjustment amount and the foreign object rotation angle to move the foreign object feature to the cutting position.

[0110] After determining the displacement adjustment amount and foreign object rotation angle required to move the foreign object feature to the cutting position, the system first controls the clamping device to clamp the gripping top angle position and drag the foreign object feature to adjust the angle according to the foreign object rotation angle, and then moves the foreign object feature to the cutting position according to the displacement adjustment amount.

[0111] Step S50124: adjusting the cutting power of the automatic cutting machine according to the cutting power adjustment amount to cut the foreign body features and the fabric at the same time.

[0112] When the foreign body feature is adjusted and moved to the cutting position, the system adjusts the cutting power of the automatic cutting machine according to the cutting power adjustment amount based on the foreign body feature and the stacking thickness of the fabric.

[0113] Reference Figure 6, the treatment method for large pieces of cloth that cannot be blown up includes the following steps: When the large pieces of cloth cannot be blown up by the blowing device, it means that the adsorption force between the foreign body feature and the cloth is large, and the foreign body feature cannot be removed. In this embodiment, the influence area of ​​the foreign body feature at the cutting position is identified, and the cutting power of the automatic cutting machine is corrected in real time.

[0114] Step S600: determining the theoretical positioning position of the foreign object feature when it is transported to the preset cutting area according to the foreign object feature position and the preset intermittent transport distance.

[0115] The automatic cutting machine is in intermittent motion during actual operation. It moves a section of fabric to the cutting position for cutting and then continues to move the next section of fabric. The intermittent conveying distance is the distance that the automatic cutting machine moves each time the fabric is conveyed, which is preset by the technicians and will not be described in detail here.

[0116] The theoretical positioning position is the theoretical position of the foreign body feature position when the foreign body feature moves with the cloth to the cutting position. The position is obtained by horizontally moving at the intermittent conveying distance based on the foreign body feature position.

[0117] Step S601: Determine the coverage range according to the theoretical positioning position and the foreign body contour.

[0118] Coverage refers to the range of influence of foreign body features on the fabric at the theoretical positioning position. When cutting fabric within the coverage range, it will be affected by the foreign body features, and the cutting power of the automatic cutting machine needs to be corrected. When the theoretical positioning position is determined, the actual coverage of the foreign body features on the fabric can be determined based on the foreign body contour at the theoretical positioning position.

[0119] Step S602: Determine the coverage path segment covered by the foreign body feature in the clipping path according to the coverage range and the clipping path.

[0120] The coverage path segment refers to the portion of the clipping path that passes through the coverage range. The coverage range and the clipping path are overlapped and analyzed, and the overlapping portion of the two is the coverage path segment.

[0121] Step S603: determining the path thickness of the foreign object feature in the covered path segment according to the covered path segment and the foreign object feature.

[0122] The path thickness refers to the thickness of the foreign body feature at the overlapped portion of the foreign body feature and the covered path segment. The path thickness of the covered path segment is determined by performing image recognition analysis on the covered path segment and the foreign body feature in the surface image information.

[0123] Step S604: tailoring the power adjustment amount according to the path thickness matching.

[0124] Similar to step S50122, the amount of adjustment of the clipping power is determined according to the path thickness, which will not be elaborated here.

[0125] Step S605: adjusting the cutting power of the automatic cutting machine according to the cutting power adjustment amount to cut the foreign body features and the fabric at the same time.

[0126] When the corrected cutting power is determined, when the automatic cutting machine cuts the cloth at the cutting position and encounters a coverage area covered by foreign body features, the automatic cutting machine can cut the cloth and foreign body features synchronously with the corrected cutting power. The difference from step S50124 is that at this time, whether the foreign body features will be destroyed is not considered, and the foreign body features are waste.

[0127] The foreign body features are folded, which affects the recognition of the foreign body contour. The foreign body folding processing method includes the following steps: Step S700: Generate a three-dimensional model of the foreign object according to the surface image information and the foreign object characteristics.

[0128] The foreign body three-dimensional model is a spatial model formed by modeling the foreign body features on the surface of the fabric. The coordinates of any point on the foreign body features can be determined from the foreign body three-dimensional model. The surface image information can be obtained in all directions of the foreign body features, so that the foreign body three-dimensional model can be generated based on the surface image information.

[0129] Step S701: Determine the lowest top point of the foreign object feature according to the foreign object three-dimensional model, and define the lowest point as the foreign object reference thickness.

[0130] The lowest top point refers to the lowest position among all the top positions of the foreign body feature. When the foreign body feature is flattened, the lowest top point is the thickness of the foreign body feature itself. At this time, the lowest top point is defined as the foreign body reference thickness, which is the normal thickness of the foreign body when it is not folded. By analyzing the foreign body features in the foreign body 3D model, the foreign body reference thickness can be directly determined.

[0131] Step S702: Determine the vertical height value between any point on the top of the foreign object feature and the conveyed cloth and its corresponding top coordinate according to the foreign object three-dimensional model.

[0132] The vertical height value refers to the distance between any point on the top of the foreign body feature and the conveyed fabric, and the top coordinate refers to the coordinate information of any point on the top of the foreign body feature. The vertical height value and its corresponding top coordinate can be directly analyzed from the foreign body 3D model.

[0133] Step S703: Based on the inconsistency between the vertical height value and the foreign object reference thickness, the thickness anomaly position is determined according to the vertical height value, the foreign object reference thickness and the top coordinates.

[0134] If the vertical height value is consistent with the foreign body reference thickness, it means that the foreign body feature is not folded but in a flattened state, and the vertical height values ​​of all top positions in the foreign body feature are the same. At this time, the foreign body feature needs to be processed.

[0135] If the vertical height value is inconsistent with the foreign body's baseline thickness, it means that there is a folding feature in the foreign body feature, and the vertical height value of the top point of the folding feature is different from the foreign body's baseline thickness. The abnormal thickness position is the position of the folding feature in the foreign body feature, and the abnormal thickness position can be directly determined from the foreign body's three-dimensional model based on the vertical height value, the foreign body's baseline thickness, and the top coordinates.

[0136] Step S704: Determine the hole entrance coordinates and hole extension angle according to the foreign body three-dimensional model and the thickness anomaly position.

[0137] When the foreign body feature is folded, a hole will be generated at the folding position that runs through both ends of the foreign body feature. The hole entrance coordinates refer to the coordinate position of the hole position on the foreign body feature. The hole extension angle refers to the horizontal extension angle of the hole in the foreign body feature. The hole entrance coordinates and hole extension angle can be obtained by identifying and analyzing the thickness anomaly position in the foreign body 3D model.

[0138] Step S705: Determine the horizontal path closest to the feature edge of the foreign body according to the hole entrance coordinates.

[0139] In this embodiment, the folding features of the foreign body features are flattened by inserting an insertion rod preset on the automatic cutting machine into the hole and moving it horizontally.

[0140] The flattening path refers to the moving path of the plunger when flattening the folded position of the foreign body feature. When flattening by the plunger, the folded position is flattened in the direction of the edge of the foreign body feature. The flattening path is the straight line segment with the shortest distance between the hole entrance and the edge of the foreign body feature.

[0141] Step S706: Control a preset insertion rod to be inserted according to the hole entrance coordinates and the hole extension angle, and control the insertion rod to move horizontally along the leveling path to level the abnormal thickness position.

[0142] After determining the hole of the folding position on the foreign body feature, insert the insertion rod into the hole and move it along the flat picking path. If the folding position is at the edge of the foreign body feature and forms a corner, the insertion rod can reset the corner during the movement. If the folding position is inside the foreign body feature, the insertion rod can flatten the folding position during the movement.

[0143] The foreign body folding processing method also includes the following steps: In this embodiment, after the folded position of the foreign feature is flattened, the contour and area of ​​the foreign feature will change, which will affect the cutting of the foreign feature at the cutting position. It is necessary to correct the contour and area of ​​the foreign feature, and then move the foreign feature to the cutting position for cutting.

[0144] Step S800: After the thickness abnormality position is leveled by inserting a rod, corrected image information of the foreign body feature is obtained.

[0145] The corrected image information refers to an image of the foreign body feature that is reacquired after flattening the folded position of the foreign body feature.

[0146] Step S801: Determine the foreign body correction contour and foreign body correction area according to the correction image information and foreign body characteristics.

[0147] The foreign body correction contour is the corrected foreign body contour, and the foreign body correction area is the corrected foreign body area. Both the foreign body correction contour and the foreign body correction area can be determined by image recognition and analysis of foreign body features from the corrected image information.

[0148] Step S802: replacing the foreign body contour with the foreign body correction contour, and outputting the foreign body correction contour.

[0149] After the foreign body correction contour is determined, the foreign body correction contour is used to replace the foreign body contour, and the foreign body feature uses the foreign body correction contour as its own contour parameter when cutting at the cutting position.

[0150] Step S803: Replace the foreign matter area with the foreign matter correction area, and output the foreign matter correction area.

[0151] After determining the foreign body correction area, the foreign body correction area is used to replace the foreign body area, and the foreign body feature uses the foreign body correction area as its own area parameter when cutting at the cutting position.

[0152] Based on the same inventive concept, an embodiment of the present invention provides a control system for an automatic cutting machine, comprising: The acquisition module is used to obtain the surface image information, lifting state image, top corner warping image and correction image information of the fabric.

[0153] The memory is used for storing a program of a control method of an automatic cutting machine.

[0154] The program in the memory can be loaded and executed by the processor to realize a control method of an automatic cutting machine.

[0155] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a control method for an automatic cutting machine.

[0156] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an automatic cutting machine, characterized in that: include: Before cutting the fabric, obtaining surface image information of the fabric being transported; Determine the foreign body features and foreign body feature positions according to the surface image information of the fabric and a preset foreign body feature library; Determine the type of foreign matter according to the surface image information and the characteristics of the foreign matter, and the foreign matter types include packaging bag type and scrap cloth type; Based on the type of packaging bag, the packaging bag is suspended and pushed away from the surface of the conveying fabric according to the characteristic position of the foreign matter using a preset foreign matter pushing-away method; Based on the type of scrap fabric, the area of ​​the foreign matter is determined according to the surface image information and the characteristics of the foreign matter; Determine the fabric adsorption force according to the area of ​​the foreign matter and the preset fabric material; When and only when the cloth adsorption force is less than the preset reference blowing force, the preset blowing device is controlled by the reference blowing force to blow the broken cloth away from the surface of the cloth being transported.

2. The control method of an automatic cutting machine according to claim 1, characterized in that: Foreign body push-off methods include: Determine the center position of the foreign object, the high point position of the foreign object, and the shortest vertical distance between the high point position of the foreign object and the edge of the foreign object according to the surface image information and the characteristics of the foreign object; Control the clamping device to clamp at the high point of the foreign object and lift it according to the hanging distance, and obtain the lifting state image after the foreign object feature is lifted; Determine the lifting gap position between the foreign body feature and the fabric according to the lifting state image; According to the center position of the foreign body, the lifting gap position and the preset equipment installation position of the blowing device, the rebound blowing position where the blowing device blows air to the fabric to rebound the airflow to the center position of the foreign body is determined; Determine the push-off path according to the characteristic position of the foreign body and the preset edge position of the fabric; After the foreign body feature is lifted, the clamping device is controlled to move along the push-away path, and the blowing device is controlled to blow air to the rebound blowing position to suspend the foreign body feature.

3. The control method of an automatic cutting machine according to claim 1, characterized in that: When the fabric adsorption force is not less than the reference blowing force, the treatment methods for large pieces of fabric include: When the cloth adsorption force is not less than the reference blowing force, the contour of the foreign object is determined according to the surface image information and the characteristics of the foreign object; Determine all the vertex positions of the foreign body features according to the foreign body contour; According to the preset equipment installation position of the blowing device, the vertex angle position closest to the equipment installation position is selected from all the vertex angle positions, and is defined as the grasping vertex angle position; Match the cloth area according to the reference blowing force, and determine the isolated area according to the cloth area and the preset area adjustment amount; Generate a pressing line at the grabbing vertex position according to the isolated area, and control a preset pressing device to press on the pressing line to form the grabbing vertex position of the isolated area; The blowing device is controlled by a reference blowing force to blow air to the grabbing top angle position to lift the grabbing top angle position, and the clamping device is controlled to clamp the lifted grabbing top angle position and process it by a preset residual material processing method.

4. The control method of an automatic cutting machine according to claim 3, characterized in that: The method of clamping the warped grabbing top angle position by the clamping device includes: When blowing air at the grasping top corner position with a reference blowing force, a top corner warping image of the grasping top corner position is obtained; Determine the warping angle according to the top angle warping image; If and only if the warping angle does not fall within the preset gripping angle range, determine the angle adjustment amount according to the warping angle and the gripping angle range; Match the blowing force adjustment amount with the angle adjustment amount; The reference blowing force is corrected according to the blowing force adjustment amount to obtain the corrected blowing force; The gripping vertex angle position is blown according to the correction blowing force, and the clamping device is controlled to clamp the gripping vertex angle position within the gripping angle range.

5. The control method of an automatic cutting machine according to claim 3, characterized in that: Residue handling methods include: Generate a cutting outline according to a preset cutting path; Determine whether the cutting contour falls into the contour of the foreign object; If the cutting contour does not fall within the foreign body contour, controlling the clamping device to move the foreign body feature out of the fabric surface along a preset removal path; If the cutting contour falls into the foreign body contour, the displacement adjustment amount is determined according to the preset cutting position and the characteristic position of the foreign body; Determine the foreign body rotation angle based on the cutting contour and the foreign body contour; Determine the thickness of the foreign body according to the surface image information and the type of foreign body, and match the cutting power adjustment amount according to the thickness of the foreign body; According to the displacement adjustment amount and the foreign body rotation angle, the clamping device is controlled to horizontally displace the foreign body feature and circumferentially rotate to move the foreign body feature to a cutting position; The cutting power of the automatic cutting machine is adjusted according to the cutting power adjustment amount to cut the foreign body features and the cloth at the same time.

6. The control method of an automatic cutting machine according to claim 5, characterized in that: There are cases where large pieces of fabric cannot be blown up by the blowing device. The methods for dealing with large pieces of fabric that cannot be blown up include: Determine the theoretical positioning position of the foreign body feature when it is transported to the preset cutting area according to the foreign body feature position and the preset intermittent transport distance; Determine the coverage area based on the theoretical positioning position and foreign body contour; Determine, according to the coverage range and the clipping path, a coverage path segment covered by the foreign body feature in the clipping path; Determine the path thickness of the foreign body feature in the covered path segment according to the covered path segment and the foreign body feature; The power adjustment amount is cut according to the path thickness match; The cutting power of the automatic cutting machine is adjusted according to the cutting power adjustment amount to cut the foreign body features and the cloth at the same time.

7. The control method of an automatic cutting machine according to claim 5, characterized in that: The foreign body features are folded, which affects the recognition of the foreign body contour. The foreign body folding treatment methods include: Generate a three-dimensional model of the foreign body based on the surface image information and the foreign body characteristics; Determine the lowest top point of the foreign body feature according to the three-dimensional model of the foreign body, and define the lowest point as the foreign body reference thickness; Determine the vertical height value between any point on the top of the foreign body feature and the conveyed cloth and its corresponding top coordinate according to the foreign body three-dimensional model; Based on the inconsistency between the vertical height value and the foreign body reference thickness, the abnormal thickness position is determined according to the vertical height value, the foreign body reference thickness and the top coordinates; Determine the hole entrance coordinates and hole extension angle based on the foreign body 3D model and thickness anomaly position; Determine the horizontal path closest to the characteristic edge of the foreign body according to the hole entrance coordinates; The preset insertion rod is controlled to be inserted according to the hole entrance coordinates and the hole extension angle, and the insertion rod is controlled to move horizontally along the leveling path to level the abnormal thickness position.

8. The control method of an automatic cutting machine according to claim 7, characterized in that: Also includes: After the insertion rod has leveled the abnormal thickness position, the corrected image information of the foreign body features is obtained; Determine the foreign body correction contour and foreign body correction area according to the correction image information and foreign body characteristics; Replacing the foreign body contour with the foreign body correction contour and outputting the foreign body correction contour; Replace the foreign matter area with the foreign matter correction area and output the foreign matter correction area.

9. A control system for an automatic cutting machine, characterized in that: include: An acquisition module, used to acquire surface image information, lifting state image, top corner warping image and correction image information of the fabric; A memory for storing a program of a control method for an automatic cutting machine according to any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor to realize a control method of an automatic cutting machine.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a control method for an automatic cutting machine as claimed in any one of claims 1 to 8.

Images