Carpet trimming and filling equipment and method based on automatic path control
Through the carpet trimming and filling equipment controlled by automated paths, combined with image acquisition and sensor technology, dynamically adjust the speed and filling amount of the trimming machine, solving the problem that carpet trimming equipment cannot be accurately controlled, and achieving efficient and stable trimming and filling effects.
Patent Information
- Application Number
- CN202510471141.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-15
- Publication Date
- 2025-07-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing carpet trimming equipment cannot accurately control the filling amount and filling effect, resulting in unstable carpet quality and manual operation is greatly affected by workers' skills.
Carpet trimming and filling equipment based on automated path control is adopted, combined with image acquisition equipment and sensors, and dynamically adjusts the trimming machine movement speed and filling head operation through the controller, and adjusts the trimming path and filling amount according to the carpet design pattern and real-time data.
Accurate control of carpet trim quality, reduce manual intervention, improve the efficiency and quality of trimming and filling, and avoid material waste.
Smart Images
Figure CN120295216A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of carpet processing, and particularly relates to a carpet trimming and filling device and method based on automatic path control. Background Art
[0002] As an important floor covering material, the aesthetics, functionality, and durability of carpets have received increasing attention. With the growing demand of consumers for personalized design, high-quality craftsmanship, and large-scale production of carpets, the production and processing of carpets have become increasingly refined. Among them, in order to ensure the quality and aesthetics of carpets, trimming and filling work needs to be carried out during carpet production.
[0003] When trimming and filling carpets at present, it is mostly based on manual operation. Manual operation is greatly affected by factors such as the skill level and working state of workers in terms of quality, and it is difficult to accurately meet the required standards during the operation process; while existing automatic carpet trimming devices only perform trimming and filling according to the set path and speed. In actual carpet production, due to material errors, the thickness of carpets may be different. When performing filling operations, if operating according to a fixed route, the filling amount and filling effect cannot be accurately controlled, thus affecting the final quality of the carpets. Summary of the Invention
[0004] The purpose of the present invention is to provide a carpet trimming and filling device and method based on automatic path control to solve the problems faced in the above background art.
[0005] The purpose of the present invention can be achieved by the following technical solutions: A carpet trimming and filling device based on automatic path control, the device includes an XY moving group, a trimming machine and a filling head installed on the XY moving group, and also includes an image acquisition device and a controller; A temperature sensor and a mechanical sensor are installed on the trimming machine. The temperature sensor is used to obtain the temperature of the tool, and the mechanical sensor is used to obtain the cutting resistance of the tool. The image acquisition device is used to obtain the image information of the carpet during trimming and filling; The controller is used to analyze the acquired image information and dynamically adjust the moving speed of the trimming machine in combination with the acquired temperature and cutting resistance information. At the same time, the controller is also used to determine the actual filling amount of the area of the carpet that needs to be filled and drive the filling head to perform the filling operation.
[0006] A carpet trimming and filling method based on automatic path control, the method is controlled and executed by the above-mentioned carpet trimming and filling device based on automatic path control, and the method includes: Step 1: The controller constructs a trimming path according to the shape and line trend characteristics of the carpet design pattern; Step 2: According to the constructed trimming path, the initial moving speed of the trimming machine is given, and the XY moving group is controlled to perform trimming operations along the constructed trimming path; Step 3: The data information of the trimming machine during movement and the parameter information of the carpet are obtained in real time, and a state index is generated through analysis. The moving speed of the trimming machine is dynamically adjusted according to the state index; Step 4: The carpet image information after trimming is collected, and the area to be filled on the carpet and the corresponding coordinates are identified through image recognition technology; Step 5: Analyze according to the parameter information of the filling area, determine the actual filling amount, and drive the filling head to perform filling operations.
[0007] Further, the method for generating the state index in Step 3 is as follows: The temperature of the cutting tool is obtained in real time and the cutting resistance , and at the same time, the carpet thickness at the position to be cut is obtained and the complexity near the cutting position ; The state index is obtained through the formula ; where is the set standard thickness reference value, is the set standard cutting resistance reference value, is the set standard temperature reference value, and and are adaptive weight coefficients.
[0008] Further, the method for dynamically adjusting the moving speed of the trimming machine according to the state index in Step 3 is as follows: There is a standard state index threshold corresponding to the set initial moving speed , , and : When , the current moving speed of the trimming machine is maintained; When , the current moving speed of the trimming machine is increased, and at the same time, a speed increase operation command is generated; When , the current moving speed of the trimming machine is decreased, and at the same time, a speed decrease operation command is generated.
[0009] Further, the method for dynamically adjusting the moving speed of the trimming machine according to the state index in Step 3 further includes: When generating a lifting operation instruction, at this time, through the formula the moving speed of the trimming machine is adjusted to ; When generating a lowering operation command, at this time, through the formula the moving speed of the trimming machine is adjusted to ; Among them, is the set speed conversion value, is the trimming condition value.
[0010] Furthermore, the method for obtaining the trimming condition value is as follows: Obtain the image information that has been trimmed within the previous seconds of the current carpet. Through image recognition technology, obtain the trimming path , and integrate the trimming path and the standard path into the same coordinate system to obtain the area above and the area below is denoted as , obtain the area below and the area above is denoted as ; At the same time, obtain the path deviation value and the edge smoothness of each carpet in the same batch at the position to be trimmed; Through the formula obtain the trimming condition value ; Among them, n is the number of carpets that have been trimmed, and , and are proportionality coefficients.
[0011] Furthermore, the method for the filling head to perform the filling operation in step five is as follows: First, determine the estimated filling amount according to the area and height of the filling area; Then, use the vision system to recognize the filling trajectory of the filling area, and obtain the curvature of the filling trajectory through the differential geometry algorithm. At the same time, obtain the current filling pressure and the filling temperature , and through the formula obtain the actual filling amount ; Among them, , , are their respective influence coefficients, is the elastic modulus of the carpet.
[0012] Advantages of the present invention: The present invention obtains relevant parameters of the carpet during the trimming and filling process through various installed detection devices and image acquisition devices, thereby generating a state index. According to the state index, it is judged whether the set initial moving speed is qualified. When it is unqualified, the moving speed of the trimming machine can be dynamically adjusted according to the condition of the carpet and the tool to ensure the trimming quality of the carpet. It does not require manual operation, and during the movement of the trimming machine, the moving speed of the trimming machine can be dynamically adjusted in real time according to the actual conditions of the carpet and the tool to ensure the trimming quality.
[0013] After the carpet trimming is completed, the present invention can also obtain the image information of the carpet, and identify the area to be filled and the corresponding coordinates of the carpet through image recognition technology. Combining the filling area, filling trajectory, filling pressure, and filling temperature of the filling area for comprehensive analysis to accurately obtain the amount of filling, ensuring the filling quality and efficiency.
[0014] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0016] Figure 1 is the method flow chart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.
[0018] In one embodiment, a carpet trimming and filling device based on automated path control is disclosed. The device includes an XY moving group, a trimming machine and a filling head installed on the XY moving group, and also includes an image acquisition device and a controller; A temperature sensor and a mechanical sensor are installed on the trimming machine. The temperature sensor is used to obtain the temperature of the cutter, and the mechanical sensor is used to obtain the cutting resistance of the cutter. An image acquisition device is used to obtain the image information of the carpet during trimming and filling. The controller is used to analyze the acquired image information and dynamically adjust the moving speed of the trimming machine in combination with the acquired temperature and cutting resistance information. At the same time, the controller is also used to determine the actual filling amount of the area where the carpet needs to be filled and drive the filling head to perform the filling operation.
[0019] In one embodiment, a carpet trimming and filling method based on automatic path control is also disclosed. This method is controlled and executed by the above-mentioned carpet trimming and filling device based on automatic path control, as Figure 1 shown. The method includes: Step 1: The controller constructs a trimming path according to the shape and line trend characteristics of the carpet design pattern. Step 2: According to the constructed trimming path, an initial moving speed of the trimming machine is given, and the XY moving group is controlled to perform trimming operations along the constructed trimming path. Step 3: Real-time obtain the data information of the trimming machine during movement and the parameter information of the carpet, and analyze and generate a state index. Dynamically adjust the moving speed of the trimming machine according to the state index. Step 4: Collect the image information of the carpet after trimming, and identify the area where the carpet needs to be filled and the corresponding coordinates through image recognition technology. Step 5: Analyze according to the parameter information of the filling area, determine the actual filling amount, and drive the filling head to perform the filling operation.
[0020] Through the above technical solutions, the present application first constructs a trimming path according to the shape and line trend characteristics of the carpet design pattern, and according to the constructed trimming path, gives an initial moving speed of the trimming machine and controls the XY moving group to perform trimming operations along the constructed trimming path. Then, relevant parameters of the carpet during trimming and filling are obtained through the installed respective detection devices and image acquisition devices. First, a state index is generated, and it is judged whether the set initial moving speed is qualified according to the state index situation. When it is unqualified, the moving speed of the trimming machine can be dynamically adjusted according to the condition of the carpet and the cutter to ensure the trimming quality of the carpet. It does not require manual operation, and during the movement of the trimming machine, the moving speed of the trimming machine can be dynamically adjusted in real time according to the actual conditions of the carpet and the cutter to ensure the trimming quality. In addition, after the carpet trimming is completed, the image information of the carpet is obtained, and the area where the carpet needs to be filled and the corresponding coordinates are identified through image recognition technology. The filling amount is accurately obtained through comprehensive analysis of the filling area, filling trajectory, filling pressure, and filling temperature of the filling area, which can not only avoid waste of materials but also ensure the filling quality and efficiency.
[0021] The method for generating the state index in step three is as follows: Obtain the temperature of the tool in real time and the cutting resistance , and at the same time obtain the carpet thickness at the position to be cut and the complexity near the cutting position ; The state index is obtained through the formula ; wherein, is the set standard thickness reference value, is the set standard cutting resistance reference value, is the set standard temperature reference value, and are adaptive weight coefficients; The method for dynamically adjusting the moving speed of the trimmer according to the state index in step three is as follows: There is a standard state index threshold corresponding to the set initial moving speed , , and : When , the current moving speed of the trimmer is maintained; When , the current moving speed of the trimmer is increased, and at the same time a lifting operation command is generated; When , the current moving speed of the trimmer is decreased, and at the same time a lowering operation command is generated.
[0022] The above solution provides a method for judging whether the moving speed of the trimmer needs to be adjusted. First, obtain the temperature of the tool in real time and the cutting resistance , and at the same time obtain the carpet thickness at the position to be cut and the complexity near the cutting position , and the state index is obtained through the formula , wherein, is the set standard thickness reference value, is the set standard cutting resistance reference value, is the set standard temperature reference value, all of which can be determined according to experimental data, while and is the adaptive weight coefficient, which can be determined according to empirical data; generally speaking, when the temperature of the tool rises and the cutting resistance increases, in order to ensure the trimming efficiency, it is necessary to appropriately reduce the moving speed of the tool. On the contrary, it is necessary to increase the moving speed of the tool. Similarly, if the carpet thickness is relatively large or the complexity near the cutting position is high, then in order to ensure the trimming quality, the speed should also be appropriately reduced. Therefore, through the formula the state index is obtained , and it is judged whether the set moving speed of the tool is reasonable according to the size of the state index. According to the empirical data and experimental data, a corresponding state index threshold interval can be set at each moving speed. Therefore, the set initial moving speed also corresponds to a standard state index threshold 、 , and : when , it means that the set moving speed is reasonable at this time, and there is no need to adjust the moving speed of the trimming machine tool, so the current moving speed of the trimming machine is maintained; when , it means that the state index is small at this time. In order to ensure the efficiency, the moving speed can be appropriately increased, so the current moving speed of the trimming machine is increased, and at the same time, a lifting operation command is generated; similarly, when , it means that the state index is large at this time. In order to ensure the carpet quality, the speed of the trimming machine tool needs to be appropriately reduced, so the current moving speed of the trimming machine is reduced, and at the same time, a lowering operation command is generated. In this way, the real-time dynamic adjustment of the trimming machine is realized to ensure the generation quality and efficiency of the carpet.
[0023] When a lifting operation instruction is generated, at this time, through the formula the moving speed of the trimming machine is adjusted to ; when a lowering operation command is generated, at this time, through the formula the moving speed of the trimming machine is adjusted to ; among them, is the set speed conversion value, which is determined through experimental data, is the trimming condition value. The method for obtaining the trimming condition value is as follows: Obtain the image information that has been trimmed within the previous seconds of the current carpet, and obtain the trimming path through image recognition technology , integrate the trimming path and the standard path into the same coordinate system, and obtain the area above and the area below is recorded as , obtain the area below and the area above is recorded as , so as to obtain the path deviation value , and then obtain the edge contour of the trimming path through edge recognition technology, compare it with the standard edge contour, and obtain the edge smoothness ; At the same time, obtain the path deviation values of each carpet in the same batch at the position to be trimmed and the edge smoothness ; Through the formula obtain the trimming status value ; Among them, n is the number of carpets that have been trimmed, and , and are proportionality coefficients.
[0024] The above technical solution provides a specific method for adjusting the moving speed. When a lifting operation instruction is generated, at this time, through the formula adjust the moving speed of the trimming machine to , it can be known that when the state index is smaller, that is, the value is larger, the more the moving speed can be increased, and the amount of increased speed is also related to the trimming status value, and the trimming status value The acquisition method is: acquire the image information that has been trimmed within the previous seconds of the current carpet, and obtain the trimming path through image recognition technology , integrate the trimming path and the standard path into the same coordinate system, and obtain the area above and record it as , obtain the area below and record it as , so as to obtain the path deviation value , it can be known that the smaller the deviation value, the better the trimming status of the current carpet during the trimming process. Then, obtain the edge contour of the trimming path through edge recognition technology, compare it with the standard edge contour, and obtain the edge smoothness , it can be known that the higher the smoothness, the better the trimming status of the current carpet during the trimming process. At the same time, obtain the path deviation values and the edge smoothness of each carpet in the same batch at the position to be trimmed, and finally obtain the trimming status value through the formula ; Combine the cumulative trimming situation of the current carpet and the trimming situations of multiple carpets in the same batch at the current position for comprehensive analysis to obtain the trimming status value. It can be known that the larger the value, the better the trimming status of the carpet; Therefore, substitute it into the formula It can be seen that the greater the trimming condition value, the more the speed can be appropriately increased; similarly, when a reduction operation command is generated, at this time, through the formula the moving speed of the trimming machine is adjusted to ; it can be seen that when the state index is greater, that is, the value is greater, in order to ensure the trimming quality, the more the speed needs to be reduced. Similarly, when the trimming condition value is smaller, it means that the trimming condition is worse. Therefore, in order to ensure the trimming quality, the more the moving speed needs to be reduced. Through this method, comprehensive analysis can be carried out according to the state index situation and the trimming condition value situation, so as to dynamically adjust the moving speed of the trimming machine according to the actual situation of the carpet, improving the trimming efficiency while ensuring the trimming quality.
[0025] The method for the filling head to perform the filling operation in step five is as follows: First, determine the estimated filling amount according to the area and height of the filling area ; Then, the filling trajectory of the filling area is recognized by the vision system, and the curvature of the filling trajectory is obtained through the differential geometry algorithm , and at the same time, the current filling pressure and the filling temperature are obtained. Through the formula the actual filling amount is obtained; Among them, , , are the influence coefficients respectively, and is the elastic modulus of the carpet.
[0026] The above technical solution provides a specific method for determining the actual filling amount. First, according to the area and height of the filling area and historical information, the estimated filling amount is determined. Then, the filling trajectory of the filling area is recognized by the vision system, and the curvature of the filling trajectory is obtained through the differential geometry algorithm , and at the same time, the current filling pressure and the filling temperature are obtained. Through the formula the actual filling amount , generally speaking, the greater the elastic modulus of the carpet, the harder the material, the smaller the required filling amount, and the greater the curvature of the path, the more curved the filling path. The curved path increases the resistance to glue flow. To reduce the risk of glue overflow, the filling amount can be appropriately reduced. Similarly, as the temperature rises, the fluidity of the glue generally increases, resulting in an increase in the glue overflow rate. Therefore, when the temperature is high, the filling amount needs to be appropriately reduced. When the filling pressure increases, the filling material is subjected to a greater force and is more powerfully squeezed into the gaps and spaces of the carpet. This allows more filling material to overcome the resistance of the carpet fibers and its own internal friction and enter the interior of the carpet, resulting in an increase in the filling amount. Therefore, a comprehensive analysis is carried out in combination with the filling area, filling trajectory, filling pressure, and filling temperature of the filling area to accurately determine the filling amount and ensure the filling quality and efficiency.
[0027] The above content is only an example and explanation of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the concept of the invention or exceed the scope defined by this claim, they should fall within the protection scope of the present invention.
Claims
1. A carpet trimming and filling device based on automated path control, characterized in that, The device includes an XY moving group, a trimming machine and a filling head mounted on the XY moving group, and also includes an image acquisition device and a controller; A temperature sensor and a mechanical sensor are mounted on the trimming machine. The temperature sensor is used to obtain the temperature of the cutting tool, and the mechanical sensor is used to obtain the cutting resistance of the cutting tool. The image acquisition device is used to obtain the image information of the carpet during trimming and filling; The controller is used to analyze the acquired image information and dynamically adjust the moving speed of the trimming machine in combination with the acquired temperature and cutting resistance information. At the same time, the controller is also used to determine the actual filling amount of the area of the carpet that needs to be filled and drive the filling head to perform the filling operation.
2. A carpet trimming and filling method based on automated path control, which is controlled and executed by the carpet trimming and filling device based on automated path control described in claim 1, characterized in that, The method includes: Step 1: The controller constructs a trimming path according to the shape and line trend characteristics of the carpet design pattern; Step 2: According to the constructed trimming path, an initial moving speed of the trimming machine is given and the XY moving group is controlled to perform a trimming operation along the constructed trimming path; Step 3: Real-time obtain the data information of the trimming machine during movement and the parameter information of the carpet, and analyze and generate a state index, and dynamically adjust the moving speed of the trimming machine according to the state index; Step 4: Collect the image information of the carpet after trimming, and identify the area of the carpet that needs to be filled and the corresponding coordinates through image recognition technology; Step 5: Analyze according to the parameter information of the filling area, determine the actual filling amount, and drive the filling head to perform the filling operation.
3. A carpet trimming and filling method based on automated path control according to claim 2, characterized in that The method for generating the status index in the third step is as follows: : Obtain the temperature of the cutting tool in real time and the cutting resistance , and at the same time obtain the carpet thickness at the position to be cut and the complexity near the cutting position ; The state index is obtained through the formula to obtain the state index ; Among them, is the set reference value of the standard thickness, is the set reference value of the standard cutting resistance, is the set reference value of the standard temperature, and is the adaptive weight coefficient.
4. A carpet trimming and filling method based on automated path control according to claim 3, characterized in that The method for dynamically adjusting the moving speed of the trimming machine according to the state index in Step 3 is: Set initial moving speed corresponds to a standard state index threshold , , and :[[]]END]] When the current moving speed of the trimmer is maintained; When the current moving speed of the trimming machine is increased, and a lifting operation command is generated at the same time; When occurs, the current moving speed of the trimmer is reduced, and a reduction operation command is generated at the same time.
5. A carpet trimming and filling method based on automated path control according to claim 4, characterized in that, The method for dynamically adjusting the moving speed of the trimming machine according to the state index in Step 3 further includes: When generating a lifting operation instruction, at this time, through the formula adjust the moving speed of the trimming machine to ; When generating a lowering operation command, at this time, through the formula the moving speed of the trimmer is adjusted to ; Among them, is the set speed conversion value, is the trimming status value.
6. A carpet trimming and filling method based on automated path control according to claim 5, characterized in that, The trimming status value The acquisition method is as follows: Obtain the image information that has been trimmed within seconds before the current carpet, and obtain the trimming path through image recognition technology , and integrate the trimming path with the standard path into the same coordinate system to obtain the area above and below, which is denoted as , and obtain the area below and above, which is denoted as , so as to obtain the path deviation value . Then, obtain the edge contour of the trimming path through edge recognition technology, compare it with the standard edge contour, and obtain the edge smoothness ; Simultaneously obtain the path deviation values of each carpet in the same batch at the position to be trimmed and the edge smoothness ; Derive the pruning status value through the formula ; where n is the number of carpets that have been trimmed, and , and is a proportionality coefficient.
7. A carpet trimming and filling method based on automated path control according to claim 2, characterized in that, The method for the filling head to perform the filling operation in Step 5 is: First, determine the estimated filling volume based on the area and height of the filling area ; Then, the filling trajectory of the filled area is recognized by the vision system, and the curvature of the filling trajectory is obtained through the differential geometry algorithm , and the current filling pressure is obtained as well as the filling temperature . Through the formula , the actual filling volume is obtained ; Among them, , , are their respective influence coefficients, is the elastic modulus of the carpet.