Automatic three-point positioning method, device and system for cutting bed, terminal and storage medium

Abstract

The invention provides an automatic three-point positioning method, device and system for a cutting bed, a terminal and a storage medium. The method comprises the following steps: acquiring an image of a target area on the cutting bed in real time; a marker paper layout used for cutting cloth is laid in the target area, and each vertex angle of the marker paper layout is provided with a positioning marker; in an image coordinate system corresponding to the image of the target area, calibrating image coordinates of the positioning markers; based on a perspective transformation algorithm, mapping the image coordinates of the positioning markers to a world coordinate system to obtain world coordinates of the positioning markers on the cutting bed; and automatically aligning the positioning point of the cutting head laser lamp with the world coordinate of each positioning marker on the cutting bed so as to realize automatic three-point positioning. Compared with the prior art, multiple times of manual positioning adjustment are not needed, so that the workload of operators is effectively relieved, the positioning accuracy and stability of the cutting bed are remarkably improved, and powerful support is provided for improving the production efficiency and the product quality.

Description

Technical Field

[0001] The present application belongs to the technical field of clothing manufacturing, and relates to a method, device, system, terminal and storage medium for automatic three-point positioning of a cutting table. Background Art

[0002] With the development of the garment manufacturing industry, the market has put forward higher requirements for the precision and efficiency of cutting table processing. Accurate cutting table positioning can ensure the smoothness of the cutting process, allowing the entire cutting table processing link to operate at high speed, helping garment companies to seize the initiative in the fierce market competition and meet consumers' increasingly diverse fashion needs with high-quality and efficient products.

[0003] The traditional method of cutting table positioning mainly relies on manual operation. This manual positioning method has many disadvantages: first, the positioning accuracy is difficult to guarantee. Human visual judgment and manual operation are prone to errors. Minor deviations will accumulate in the batch cutting process, resulting in finished product sizes that do not meet the standards and affect product quality. Second, the production efficiency of the cutting table is low. Manual measurement and position adjustment take a lot of time, especially when facing large-scale orders or urgent production tasks. It cannot meet the fast production rhythm. Third, the labor cost is high, and more skilled workers are required to perform repetitive positioning work, which increases the company's human resources expenses.

[0004] At present, digital technology has gradually penetrated into the field of cutting tables. Although some cutting tables have applied some automated auxiliary means, the existing positioning technology is still not perfect. For example, some simple mechanical positioning devices can only achieve rough positioning, which is not enough for complex-shaped materials or high-precision cutting requirements; some positioning systems based on image recognition are limited by factors such as lighting conditions and material texture, and have poor stability and are prone to misjudgment. They are also unable to achieve rapid positioning accurately and stably. Summary of the invention

[0005] The purpose of this application is to provide a method, device, system, terminal and storage medium for automatic three-point positioning of a cutting table, so as to improve the accuracy and stability of the cutting table positioning.

[0006] In a first aspect, the present application provides a method for automatic three-point positioning of a cutting table, comprising: acquiring an image of a target area on the cutting table in real time; laying a marker paper pattern for cutting fabrics in the target area, and providing a positioning marker at each vertex of the marker paper pattern; calibrating the image coordinates of each positioning marker in an image coordinate system corresponding to the image of the target area; mapping the image coordinates of each positioning marker to a world coordinate system based on a perspective transformation algorithm to obtain the world coordinates of each positioning marker on the cutting table; and automatically aligning the positioning point of the cutting head laser light with the world coordinates of each positioning marker on the cutting table to achieve automatic three-point positioning.

[0007] In an implementation of the first aspect, based on a perspective transformation algorithm, the image coordinates of each positioning marker are mapped to a world coordinate system to obtain the world coordinates of each positioning marker on the cutting table, including: based on a pre-constructed perspective transformation matrix, the image coordinates of each positioning marker are converted into world coordinates; wherein the method for constructing the perspective transformation matrix includes: obtaining the image coordinates and world coordinates of at least four reference points; for each reference point, converting the corresponding image coordinates and world coordinates into homogeneous coordinates respectively to obtain a homogeneous coordinate group; based on the homogeneous coordinate group, establishing a linear equation group; the linear equation group is used to represent the mapping relationship of the reference point from the image coordinate system to the world coordinate system; the linear equation groups corresponding to each reference point are merged to obtain an overdetermined equation group; the overdetermined equation group is solved based on the least squares method to obtain the perspective transformation matrix.

[0008] In an implementation of the first aspect, before calibrating the image coordinates of each of the positioning markers, the image of the target area is also preprocessed; wherein the step of preprocessing the image of the target area includes: performing image enhancement processing on the image of the target area to obtain an image after image enhancement; and adjusting the image after image enhancement to a resolution suitable for display on a display screen.

[0009] In an implementation method of the first aspect, it also includes: real-time display of the positioning point screen of the cutting head laser light; the positioning point screen includes the positioning marker on the marker paper board and the marker after three-point positioning; determine whether the positioning marker on the marker paper board coincides with the marker after three-point positioning; if so, it is determined that the three-point positioning of the cutting table is successful; otherwise, it is determined that the three-point positioning of the cutting table has failed, the selection of the target area on the cutting table is adjusted, and the three-point positioning process is restarted until the positioning marker on the marker paper board coincides with the marker after three-point positioning.

[0010] In the second aspect, the present application provides an automatic three-point positioning device for a cutting table, comprising: an image acquisition module, used to acquire an image of a target area on the cutting table in real time; a marker paper pattern for cutting cloth is laid on the target area, and each vertex of the marker paper pattern is provided with a positioning marker; a coordinate calibration module, used to calibrate the image coordinates of each positioning marker in an image coordinate system corresponding to the image of the target area; a coordinate mapping module, used to map the image coordinates of each positioning marker to a world coordinate system based on a perspective transformation algorithm, and obtain the world coordinates of each positioning marker on the cutting table; an automatic alignment module, used to automatically align the positioning point of the cutting head laser light with the world coordinates of each positioning marker on the cutting table, so as to realize automatic three-point positioning.

[0011] In the third aspect, the present application provides an automatic three-point positioning system for a cutting table, comprising: the automatic three-point positioning device for a cutting table as described above; a camera, connected to the automatic three-point positioning device for a cutting table, for real-time acquisition of the image of the target area on the cutting table, and sending the image of the target area to the automatic three-point positioning device for a cutting table in real time; a display screen, connected to the automatic three-point positioning device for a cutting table, for real-time display of the positioning point screen of the cutting head laser light; the positioning point screen includes the positioning markers on the marker paper board and the markers after three-point positioning; a host computer, connected to the display screen, for generating a cutting table control instruction for controlling the movement of the cutting table based on user instructions after successful three-point positioning; a cutting table, connected to the host computer, for performing fabric cutting work in the target area based on the cutting table control instruction.

[0012] In an implementation of the third aspect, it is characterized in that a function button is provided on the display screen, and the function button is used to generate a corresponding user instruction according to a user's click option.

[0013] In an implementation of the third aspect, the host computer includes: a communication unit connected to the display screen, used to transmit the positioning point image of the cutting head laser light and the user instructions; a control unit connected to the communication unit, used to obtain the user instructions and convert the user instructions into the cutting bed control instructions; a display unit connected to the communication unit, used to display the positioning point image of the cutting head laser light synchronously with the display screen.

[0014] In a third aspect, the present application provides an automatic three-point positioning terminal for a cutting table, comprising: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the automatic three-point positioning terminal for the cutting table executes the method described above.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-described method when executed by a processor.

[0016] As described above, the automatic three-point positioning method, device, system, terminal and storage medium for the cutting table described in the present application do not require multiple manual positioning adjustments, thereby effectively reducing the workload of operators and significantly improving the accuracy and stability of the cutting table positioning, providing strong support for improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic structural diagram of a mobile terminal described in the present application in one embodiment.

[0018] Figure 2Shown is a flow chart of an embodiment of the automatic three-point positioning method for a cutting table described in the present application.

[0019] Figure 3 Shown is a schematic diagram of the marker paper layout described in this application in one embodiment.

[0020] Figure 4 Shown is a schematic diagram of a target area described in the present application in an embodiment.

[0021] Figure 5 Shown is a partially enlarged view of the positioning point screen described in this application in one embodiment.

[0022] Figure 6 Shown is a schematic structural diagram of an automatic three-point positioning device for a cutting table described in the present application in one embodiment.

[0023] Figure 7 Shown is a schematic structural diagram of an automatic three-point positioning system for a cutting table described in the present application in one embodiment.

[0024] Figure 8 Shown is a schematic diagram of an application interface of a display screen described in this application in one embodiment.

[0025] Fig. 9 Shown is a schematic diagram of the structure of the automatic three-point positioning terminal for cutting tables described in the present application in one embodiment. DETAILED DESCRIPTION

[0026] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0028] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0029] The following embodiments of the present application provide a method, device, system, terminal and storage medium for automatic three-point positioning of a cutting table. The three-point positioning of the cutting table is the core link to ensure that the cutting knife strictly follows the preset cutting pattern to perform cutting operations. In actual operation, if the three-point positioning is not accurately implemented, the cutter is very likely to deviate from the predetermined cutting trajectory, which will cause the cut pieces to exhibit size deviations, shape discrepancies and other problems, ultimately hindering the smooth progress of subsequent sewing processes and affecting the quality and efficiency of the entire production process. In order to make the technical solutions provided in the embodiments of the present application easier to understand, the cutting process of the cutting table is first described in detail.

[0030] Before the cutter cuts, the cloth spreading machine places the cloth to be cut on the cloth spreading table and wakes it up for a certain period of time. Then, a pre-designed marker paper pattern is covered on the surface of the laid cloth, and a layer of plastic film is covered on the marker paper pattern. Next, the cloth is passed through the window to the predetermined cutting area on the bristle bed of the cutting table. At this time, the vacuum adsorption device is started to vacuum the space between the cloth and the plastic film. Then, the automatic three-point positioning process of the cutting table is started. When the cutting table completes the automatic three-point positioning, the cutter can be used to perform the cloth cutting operation. After the cutting is completed, the vacuum adsorption device is turned off, and the cut cloth is transferred through the window to the receiving table. Finally, the cut pieces are collected and packaged.

[0031] The automatic three-point positioning method for the cutting table provided in this application does not require multiple manual positioning adjustments, thereby effectively reducing the workload of operators and significantly improving the accuracy and stability of the cutting table positioning, providing strong support for improving production efficiency and product quality.

[0032] The automatic three-point positioning method for a cutting table provided in the embodiment of the present application can be run in a mobile terminal, a computer terminal or similar device. Taking running on the mobile terminal as an example, Figure 1 is a hardware structure diagram of the mobile terminal, such as Figure 1 Taking the mobile terminal as an example, the mobile terminal may include: a processor and a memory, wherein the processor may be a central processing unit, and the memory is used to store data. Figure 1The mobile terminal in the figure is only used as an example and does not limit the specific structure of the mobile terminal.

[0033] Optionally, the mobile terminal may further include: a communication transmission device and an input and output device.

[0034] Optionally, the memory may be used to store computer programs, such as software programs and modules of application software, and the memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0035] Optionally, the communication transmission device can be used to receive or send data via a network, which may include a wireless network provided by a communication provider of the mobile terminal. The communication transmission device may include a NIC (Network Interface Controller) that can be connected to other network devices through a base station so as to communicate with the Internet.

[0036] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0037] See also Figure 2 , which is a flow chart of the automatic three-point positioning method for a cutting table described in this application in one embodiment. Figure 2 As shown, an embodiment of the present application provides a method for automatic three-point positioning of a cutting table, including the following steps S100 to S400.

[0038] In step S100, an image of a target area on a cutting table is acquired in real time.

[0039] Specifically, a marker paper pattern for cutting cloth is laid in the target area, and a positioning marker is provided at each top corner of the marker paper pattern.

[0040] The marker paper layout is a layout drawing specially designed for fabric cutting in the garment production process. It scientifically arranges garment pieces of different specifications within the specified fabric width, aiming to determine the material quota with the smallest area or shortest length. This optimized layout not only helps save materials and reduce costs, but also ensures that the final cut garment pieces can meet the strict requirements of design and process.

[0041] See also Figure 3 , which is a schematic diagram of the marker paper layout described in this application in one embodiment. Figure 3 As shown, the four top corners of the marker paper pattern use "⊙" as positioning markers.

[0042] In other embodiments, positioning markers of different shapes may also be used, such as triangles, etc. The present application has no specific limitation on the form or type of positioning markers used.

[0043] In one embodiment of the present application, a high-definition camera can be used to obtain an image of a target area on the cutting table in real time. The high-definition camera can fully monitor the operation process of the entire cutting table, so as to facilitate timely detection of any abnormal situation, and can meet the use requirements under various complex working conditions.

[0044] Specifically, the high-definition camera can be installed at a height that is easy to operate just above the bristle bed of the cutting table. In view of the variability of the working environment of the cutting table, such as changes in lighting conditions, dust interference, and mechanical vibration, a camera with strong environmental adaptability can be selected to ensure the stability of image acquisition.

[0045] See also Figure 4 , which is a schematic diagram of the target area described in the present application in one embodiment. Figure 4 As shown, in the embodiment of the present application, the target area is a cutting area pre-marked on the cutting table, and the four corners of the cutting area are A, B, C and D. The marker paper pattern is laid in the cutting area, and its four corners are marked as point 1, point 2, point 3 and point 4 respectively, and a positioning marker is provided at each corner.

[0046] In order to ensure that the entire cropping area and its key position information can be accurately captured, the shooting angle of the camera needs to be adjusted so that at least the four top corners A, B, C and D of the cropping area are completely within the field of view of the camera.

[0047] In step S200, the image coordinates of each positioning marker are calibrated in an image coordinate system corresponding to the image of the target area.

[0048] The image coordinate system is a two-dimensional imaging plane coordinate system used to describe the position of each pixel in the image. In the image coordinate system, each pixel corresponds to a unique image coordinate, usually expressed as (x, y). For example, the image coordinates of the four corners A, B, C, and D of the cropped area are expressed as A(x Aimg ,y Aimg )、B(x Bimg ,y Bimg )、C(x Cimg ,y Cimg ) and D(x Dimg ,y Dimg ).

[0049] In one embodiment of the present application, before calibrating the image coordinates of each positioning marker, the image of the target area is further preprocessed.

[0050] In an embodiment of the present application, the step of preprocessing the image of the target area includes: the following steps S201 to S202.

[0051] In step S201, image enhancement processing is performed on the image of the target area to obtain an enhanced image.

[0052] Specifically, the image enhancement processing performed on the image of the target area may include basic operations such as color correction, exposure compensation and denoising, and may also include contrast adjustment, sharpening and the use of advanced algorithms to improve the details and overall visual effect of the image, thereby optimizing the image quality.

[0053] For example, color correction can correct color deviations caused by improper shooting environment or camera settings, making the image more realistically reflect the actual scene; exposure compensation can effectively solve the problem of being too dark or too bright, so that every part of the image can be properly displayed.

[0054] In step S202, the enhanced image is adjusted to a resolution suitable for display on a display screen.

[0055] Specifically, the optimal output resolution can be determined based on the specific specifications of the target display (such as resolution and size, etc.). Then, the enhanced image is scaled or cropped by applying a specific algorithm to ensure that the image presented to the user is both high-definition and authentic in nature.

[0056] In this implementation, the user's needs for the display characteristics of different display screens are fully taken into consideration. By adjusting the resolution of the image, it can effectively ensure that the user obtains a clear, stable and responsive visual experience.

[0057] In step S300, based on a perspective transformation algorithm, the image coordinates of each positioning marker are mapped to a world coordinate system to obtain the world coordinates of each positioning marker on the cutting table.

[0058] The world coordinate system is a three-dimensional coordinate system used to represent the actual physical position of an object or point in three-dimensional space. In the world coordinate system, the world coordinates of any point can theoretically be uniquely determined by a triple (X, Y, Z), where X, Y, and Z represent the distances from the point to three mutually perpendicular coordinate planes. For a specific cutting plane scenario, the change in the Z-axis direction can be ignored. Based on this, the world coordinates of the four corners A, B, C, and D of the cutting area can be expressed as A(x Aact ,y Aact ), B(x Bact ,y Bact ), C(x Cact ,y Cact ), D(x Dact ,y Dact ).

[0059] Perspective transformation is a special form of projection transformation, which can project an image on a two-dimensional plane into a perspective view in three-dimensional space. The core principle of perspective transformation is to determine a perspective transformation matrix by defining four reference points, and use the perspective transformation matrix to perform corresponding coordinate transformation on each pixel in the original image, and finally generate a processed image.

[0060] In one embodiment of the present application, based on a perspective transformation algorithm, the image coordinates of each positioning marker are mapped to a world coordinate system to obtain the world coordinates of each positioning marker on the cutting table, including: based on a pre-constructed perspective transformation matrix, the image coordinates of each positioning marker are converted into world coordinates.

[0061] In one embodiment of the present application, the method for constructing the perspective transformation matrix includes: obtaining image coordinates and world coordinates of at least four reference points; for each of the reference points, converting the corresponding image coordinates and world coordinates into homogeneous coordinates respectively to obtain a homogeneous coordinate group; based on the homogeneous coordinate group, establishing a linear equation group; the linear equation group is used to represent the mapping relationship of the reference point from the image coordinate system to the world coordinate system; merging the linear equation groups corresponding to each of the reference points to obtain an overdetermined equation group; solving the overdetermined equation group based on the least squares method to obtain the perspective transformation matrix.

[0062] In an embodiment of the present application, for each reference point, the mapping relationship from the image coordinate system to the world coordinate system can be expressed as:

[0063]

[0064] in represents the homogeneous coordinates corresponding to the image coordinates of the reference point, represents the homogeneous coordinates corresponding to the world coordinates of the reference point, and H represents the perspective transformation matrix, which is a 3x3 homography matrix. After the homography matrix H is calculated, the conversion process from the image coordinates of any point to the world coordinates can be realized.

[0065] In step S400, the positioning point of the cutting head laser light is automatically aligned with the world coordinates of each positioning marker on the cutting table to achieve automatic three-point positioning.

[0066] The cutting head laser light is an efficient and practical cutting auxiliary tool. It provides precise reference lines by emitting laser lines to assist the cutter in precise cutting.

[0067] In one embodiment of the present application, when the user activates the three-point positioning function, the positioning point of the cutting head laser light will automatically be positioned at point 1 on the marker paper pattern. The operator then confirms the position on the touch screen panel, and the first marker symbol after the three-point positioning will be displayed at point 1 on the screen. Next, the positioning point of the cutting head laser light will move to point 2 on the marker paper board. After the operator clicks to confirm again, the second three-point positioning marker will be displayed at point 2. This process is repeated until point 3 and point 4 on the marker paper. After each move and confirmation, a marker will appear at the corresponding position. Once all points are positioned, you can start cutting.

[0068] It should be noted that the above confirmation process requiring operator participation can also be achieved through automated means, which will not be described in detail here.

[0069] In one embodiment of the present application, the automatic three-point positioning method for a cutting table described in the embodiment of the present application further includes the following steps S500 to S800.

[0070] In step S500, the positioning point image of the cutting head laser light is displayed in real time.

[0071] Specifically, the positioning point picture includes the positioning marker on the marker paper board and the marker after three-point positioning.

[0072] See also Figure 5 , which is a partial enlarged view of the positioning point screen described in this application in one embodiment. Figure 5 As shown, the positioning point picture includes the positioning marker on the marker paper board and the marker after three-point positioning.

[0073] In step S600, it is determined whether the positioning marker on the marker paper pattern coincides with the marker after the three-point positioning.

[0074] In step S700, if the positioning mark on the marker paper pattern coincides with the mark after the three-point positioning, it is determined that the three-point positioning of the cutting table is successful.

[0075] In step S800, if the positioning marker on the marker paper pattern does not coincide with the marker after the three-point positioning, it is determined that the three-point positioning of the cutting table has failed, the selection of the target area on the cutting table is adjusted, and the three-point positioning process is restarted until the positioning marker on the marker paper pattern coincides with the marker after the three-point positioning.

[0076] The protection scope of the automatic three-point positioning method for the cutting table described in the embodiment of the present application is not limited to the execution order of the steps listed in the present embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0077] See also Figure 6 , which is a schematic diagram of the structure of the automatic three-point positioning device for cutting tables described in this application in one embodiment. Figure 6 As shown, an embodiment of the present application provides an automatic three-point positioning device for a cutting table, including an image acquisition module, a coordinate calibration module, a coordinate mapping module and an automatic alignment module.

[0078] The image acquisition module is used to acquire an image of a target area on a cutting table in real time; a marker paper pattern for cutting cloth is laid in the target area, and each vertex of the marker paper pattern is provided with a positioning marker.

[0079] The coordinate calibration module is used to calibrate the image coordinates of each positioning marker in the image coordinate system corresponding to the image of the target area.

[0080] The coordinate mapping module is used to map the image coordinates of each positioning marker to a world coordinate system based on a perspective transformation algorithm, so as to obtain the world coordinates of each positioning marker on the cutting table.

[0081] The automatic alignment module is used to automatically align the positioning point of the cutting head laser light with the world coordinates of each positioning marker on the cutting table to achieve automatic three-point positioning.

[0082] It should be noted that the structures and principles of the image acquisition module, coordinate calibration module, coordinate mapping module and automatic alignment module described in the embodiments of the present application correspond one-to-one to the steps in the above-mentioned cutting table automatic three-point positioning method, so they will not be repeated here.

[0083] See also Figure 7 , which is a schematic diagram of the structure of the automatic three-point positioning system for cutting tables described in this application in one embodiment. Figure 7As shown, the automatic three-point positioning system for the cutting table described in the embodiment of the application also includes the automatic three-point positioning device for the cutting table, the camera, the display screen, the host computer and the cutting table described above.

[0084] The camera is connected to the automatic three-point positioning device of the cutting table, and is used for collecting the image of the target area on the cutting table in real time, and sending the image of the target area to the automatic three-point positioning device of the cutting table in real time.

[0085] Specifically, the camera is connected to the image acquisition module in the automatic three-point positioning device of the cutting table, and is used to collect the image of the target area on the cutting table in real time, and send the image of the target area to the image acquisition module in real time.

[0086] The display screen is connected to the automatic three-point positioning device of the cutting table, and is used to display the positioning point picture of the cutting head laser light in real time. The positioning point picture includes the positioning markers on the marker paper pattern and the markers after the three-point positioning.

[0087] Specifically, the display screen can be installed at the operating table position of the cutting table crossbeam, receive the image data transmitted by the camera through its built-in port, and display the image data in real time. In addition, the display screen is provided with function buttons, which are used to generate corresponding user instructions according to the user's click options.

[0088] See also Figure 8 , which is a schematic diagram of an application interface of a display screen described in this application in one embodiment. Figure 8 As shown, a series of functional buttons are configured on the left side of the display interface, including confirmation, cancel, restart, stop, manual, vacuum suction, sharpening, side cutting, lower knife, lower knife disc, rocker enable, knife vibration, bristle bed left move, bristle bed right move, window pass and clean up. The right side of the display interface is set as the camera shooting screen display area.

[0089] The host computer is connected to the display screen and is used to generate a cutting table control instruction for controlling the movement of the cutting table based on a user instruction after the three-point positioning is successful.

[0090] Specifically, the host computer includes a communication unit, a control unit and a display unit. The communication unit is connected to the display screen and is used to transmit the positioning point image of the cutting head laser light and the user instruction. The control unit is connected to the communication unit and is used to obtain the user instruction and convert the user instruction into the cutting bed control instruction. The display unit is connected to the communication unit and is used to display the positioning point image of the cutting head laser light synchronously with the display screen.

[0091] The cutting table is connected to the host computer and is used to perform cloth cutting work in the target area based on the cutting table control instructions.

[0092] In one embodiment of the present application, the communication unit can transmit the positioning point image of the cutting head laser light and the user command to the control unit of the cutting table through the EtherCAT communication protocol, and the control unit of the cutting table can realize the operation control of other components of the cutting table through the EtherCAT communication protocol, thereby ensuring the smooth completion of the cutting work.

[0093] It should be noted that the automatic three-point positioning system for the cutting table provided in the embodiment of the present application can implement the automatic three-point positioning method for the cutting table described in the present application, but the implementation device of the automatic three-point positioning method for the cutting table described in the present application includes but is not limited to the structure of the automatic three-point positioning system for the cutting table listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0094] See also Fig. 9 , which is a schematic diagram of the structure of the automatic three-point positioning terminal for cutting tables described in this application in one embodiment. Fig. 9 As shown, an embodiment of the present application provides a cutting table automatic three-point positioning terminal, including: a processor and a memory.

[0095] The memory is used to store computer programs.

[0096] The processor is used to execute the computer program stored in the memory so that the cutting table automatic three-point positioning terminal executes the above-mentioned method.

[0097] Preferably, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The memory may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk or an optical disk.

[0098] This embodiment also includes one or more of a multimedia component, an input / output (I / O) interface, and a communication component.

[0099] The multimedia component may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in a memory or sent via a communication component. The audio component also includes at least one speaker for outputting audio signals. The I / O interface provides an interface between the processor and other interface modules, and the other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The present application adopts wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more thereof, so the corresponding communication component may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0100] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0101] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0102] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0103] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and the program is executed by the processor to implement the above-described method. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above-described embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above-mentioned storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state hard disk (SSD)), etc.

[0104] The present application embodiment may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer or data center.

[0105] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product may be a software installation package, and when the above method is required, the computer program product may be downloaded and executed on a computer.

[0106] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0107] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for automatic three-point positioning of a cutting table, characterized in that: include: An image of a target area on a cutting table is acquired in real time; a marker paper pattern for cutting fabric is laid in the target area, and each top corner of the marker paper pattern is provided with a positioning marker; In the image coordinate system corresponding to the image of the target area, calibrate the image coordinates of each of the positioning markers; Based on a perspective transformation algorithm, the image coordinates of each positioning marker are mapped to a world coordinate system to obtain the world coordinates of each positioning marker on the cutting table; The positioning point of the cutting head laser light is automatically aligned with the world coordinates of each positioning marker on the cutting table to achieve automatic three-point positioning.

2. The method according to claim 1, characterized in that Based on the perspective transformation algorithm, the image coordinates of each positioning marker are mapped to the world coordinate system to obtain the world coordinates of each positioning marker on the cutting table, including: based on a pre-constructed perspective transformation matrix, the image coordinates of each positioning marker are converted into world coordinates; wherein the method for constructing the perspective transformation matrix includes: Obtain image coordinates and world coordinates of at least four reference points; For each of the reference points, the corresponding image coordinates and the world coordinates are converted into homogeneous coordinates to obtain a homogeneous coordinate group; Based on the homogeneous coordinate system, a linear equation system is established; the linear equation system is used to express the mapping relationship of the reference point from the image coordinate system to the world coordinate system; Merging the linear equations corresponding to the reference points to obtain an overdetermined equation system; The overdetermined equations are solved based on the least square method to obtain the perspective transformation matrix.

3. The method according to claim 1, characterized in that Before calibrating the image coordinates of each positioning marker, the method further includes preprocessing the image of the target area; The step of preprocessing the image of the target area includes: Performing image enhancement processing on the image of the target area to obtain an image after image enhancement; The enhanced image is adjusted to a resolution suitable for display on a display screen.

4. The method according to claim 1, characterized in that: Also includes: Displaying the positioning point picture of the cutting head laser light in real time; the positioning point picture includes the positioning marker on the marker paper pattern and the marker after three-point positioning; Determine whether the positioning mark on the marker paper pattern coincides with the mark after the three-point positioning; If yes, it is considered that the three-point positioning of the cutting table is successful; Otherwise, it is determined that the three-point positioning of the cutting table has failed, the selection of the target area on the cutting table is adjusted, and the three-point positioning process is restarted until the positioning marker on the marker paper pattern coincides with the marker after the three-point positioning.

5. An automatic three-point positioning device for a cutting table, characterized in that: include: An image acquisition module is used to acquire an image of a target area on a cutting table in real time; a marker paper pattern for cutting fabrics is laid on the target area, and each top corner of the marker paper pattern is provided with a positioning marker; A coordinate calibration module, used for calibrating the image coordinates of each positioning marker in an image coordinate system corresponding to the image of the target area; A coordinate mapping module, used to map the image coordinates of each positioning marker to a world coordinate system based on a perspective transformation algorithm, so as to obtain the world coordinates of each positioning marker on the cutting table; The automatic alignment module is used to automatically align the positioning point of the cutting head laser light with the world coordinates of each positioning marker on the cutting table to achieve automatic three-point positioning.

6. An automatic three-point positioning system for a cutting table, characterized in that: include: The automatic three-point positioning device for a cutting table as claimed in claim 5; A camera connected to the automatic three-point positioning device of the cutting table, used for collecting the image of the target area on the cutting table in real time, and sending the image of the target area to the automatic three-point positioning device of the cutting table in real time; A display screen, connected to the automatic three-point positioning device of the cutting table, for displaying the positioning point image of the cutting head laser light in real time; The positioning point picture includes the positioning marker on the marker paper board and the marker after three-point positioning; A host computer, connected to the display screen, is used to generate a cutting table control instruction for controlling the movement of the cutting table based on a user instruction after the three-point positioning is successful; The cutting table is connected to the host computer and is used to perform cloth cutting work in the target area based on the cutting table control instructions.

7. The system according to claim 6, characterized in that The display screen is provided with function buttons, and the function buttons are used to generate corresponding user instructions according to the user's click options.

8. The system according to claim 6, characterized in that The host computer comprises: A communication unit, connected to the display screen, for transmitting the positioning point image of the cutting head laser light and the user command; A control unit, connected to the communication unit, for acquiring the user instructions and converting the user instructions into the cutting bed control instructions; The display unit is connected to the communication unit and is used to display the positioning point image of the cutting head laser lamp synchronously with the display screen.

9. An automatic three-point positioning terminal for a cutting table, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the cutting table automatic three-point positioning terminal executes the method described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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