Cloth paving method and system based on visual positioning

Abstract

The invention relates to a cloth flattening method and system based on visual localization, and relates to the field of cloth processing, and the method comprises the steps: obtaining a cloth image; judging whether a pattern exists on the cloth according to the cloth image; when the pattern exists on the cloth, determining the position of the pattern according to the cloth image; determining a pattern material based on the pattern position; determining a pattern coefficient according to the pattern material; determining adsorption power according to the pattern coefficient; and controlling a preset adsorption device to reach the pattern position according to the adsorption power and performing adsorption. The cloth flattening device has the effects that the cloth flattening convenience is improved, and the cloth damage condition is reduced.

Description

Technical Field

[0001] The present invention relates to the field of fabric processing, and in particular to a fabric flattening method and system based on visual positioning. Background Art

[0002] Fabric flattening refers to making the surface of wrinkled, curled or uneven fabric in a flat and stretched state through operations such as stretching and leveling.

[0003] In the prior art, before processing fabrics in industries such as textile, printing and dyeing, and garment manufacturing, it is necessary to flatten the fabrics for subsequent processing. Generally, various mechanical structures and devices are used to achieve fabric flattening, such as driving rollers or conveyor belts by motors to stretch and smooth the fabric during rolling or conveying.

[0004] The fabric to be flattened often has patterns. When driving the fabric by devices such as conveyor belts, it is easy to cause friction between the fabric and the conveyor belt, resulting in damage to the patterns on the fabric. Summary of the Invention

[0005] In order to improve the convenience of fabric flattening and reduce the situation of fabric damage, the present invention provides a fabric flattening method and system based on visual positioning.

[0006] In the first aspect, the present invention provides a fabric flattening method based on visual positioning, adopting the following technical solutions: The fabric flattening method based on visual positioning includes: Obtaining a fabric image; Judging whether there is a pattern on the fabric according to the fabric image; When there is a pattern on the fabric, determining the pattern position according to the fabric image; Determining the pattern material based on the pattern position; Determining the pattern coefficient according to the pattern material; Determining the adsorption power according to the pattern coefficient; Controlling a preset adsorption device to reach the pattern position and perform adsorption according to the adsorption power.

[0007] By adopting the above technical solutions, the image of the fabric is collected in real time, and the pattern on the fabric is located from the image, so as to identify the material of the pattern to determine the electric charge carried by the pattern, and then the adsorption device generates a corresponding electrostatic field according to the electric charge carried by the pattern and adheres to the pattern to adsorb the pattern, thereby reducing the situation that the pattern on the fabric is damaged due to friction with devices such as conveyor belts during the fabric flattening process and improving the convenience of fabric flattening.

[0008] Optionally, it further includes: When there is a pattern on the fabric, determining the fabric material according to the fabric image; Determine the fabric coefficient according to the fabric material; When the fabric coefficient is greater than the pattern coefficient, determine the pattern area based on the pattern position; When the pattern area is less than the preset adsorption threshold, determine the fabric area based on the pattern position; Determine the pattern weight according to the pattern material and the pattern area; Determine the fabric power according to the pattern weight, the fabric coefficient and the fabric area; When the fabric power is lower than the adsorption power, control the preset adsorption device to reach the pattern position and perform adsorption according to the fabric power.

[0009] By adopting the above technical solution, when the charge carried by the pattern is low, the adsorption device needs to generate a large electrostatic field to adsorb the pattern. At this time, the material of the fabric is identified through the image of the fabric to determine the charge carried by the fabric, so as to control the adsorption device to generate a corresponding electrostatic field according to the charge carried by the fabric to adsorb the fabric around the pattern, so that the pattern is pressed against the adsorption device through the fabric.

[0010] Optionally, it further includes an attitude adjustment method, and the attitude adjustment method includes: Determine the protrusion position according to the fabric image; When there is no pattern on the fabric, determine the number of protrusions according to the protrusion position; When the number of protrusions is greater than 0, determine the fabric size according to the fabric image; Determine the driving area according to the fabric size; Determine the driving area according to the fabric image and the driving area; Determine the protrusion area based on the protrusion position; Determine the overlapping area according to the driving area and the protrusion area; Select the driving direction according to the overlapping area and the driving area; Control the preset flipping device to flip the fabric according to the driving direction and update the fabric image.

[0011] By adopting the above technical solution, when the pattern cannot be recognized from the image of the fabric, the protrusion is recognized by detecting the height of the fabric, so as to determine the position of the pattern on the reverse side of the fabric as the position of the protrusion, and identify the driving direction with the least influence on the pattern when the flipping device slides against the fabric according to the pattern distribution on the reverse side of the fabric, so as to reduce the damage of the pattern caused by the sliding friction between the flipping device and the fabric when flipping the fabric.

[0012] Optionally, the attitude adjustment method further includes: When there is a pattern on the fabric, determine the reverse position according to the protrusion position and the pattern position; Determine the number of reverses according to the reverse position; When the number of reverse sides is greater than 0, determine the reverse side area based on the reverse side position; When the reverse side area is greater than the pattern area, control a preset flipping device to flip the fabric according to the driving direction and update the fabric image; Based on the situation where the reverse side area is not greater than the pattern area, determine the fabric thickness according to the fabric material; Determine the adsorption power according to the fabric thickness and the pattern coefficient; Control a preset adsorption device to reach the reverse side position and perform adsorption according to the adsorption power.

[0013] By adopting the above technical solution, when there are patterns on both the front and reverse sides of the fabric, keep the side with the larger pattern area of the fabric upward to reduce the contact between the pattern and devices such as the conveyor belt, and for the pattern located on the reverse side of the fabric, adsorb it through the fabric by the adsorption device to reduce the damage of the pattern.

[0014] Optionally, the posture adjustment method further includes: When there is a pattern on the fabric, determine the reverse side height based on the reverse side position; Determine the double-layer threshold according to the reverse side height; Determine the pattern height based on the pattern position; When the pattern height is higher than the double-layer threshold, define the pattern position as the reverse side position.

[0015] By adopting the above technical solution, when there are patterns on both sides of the same position of the fabric, it is difficult to directly judge by the protrusion. Retrieve the height of the position where there is no pattern but there is a protrusion in the image, that is, the height of the fabric with only the reverse side having a pattern, and then generate the minimum height of the fabric with patterns on both sides from this, so as to judge whether there are patterns on both sides according to the minimum height.

[0016] Optionally, the posture adjustment method further includes: When the fabric coefficient is less than the pattern coefficient, determine the fabric weight according to the fabric material and the pattern area; Determine the adsorption force according to the adsorption power, the fabric coefficient and the pattern area; Calculate the difference between the fabric weight and the adsorption force and define it as the load weight; When the load weight is greater than 0, determine the adsorption power according to the load weight, the fabric thickness and the pattern coefficient.

[0017] By adopting the above technical solution, when the adsorption device adsorbs the pattern through the fabric, the adsorption device needs to first adsorb the fabric. When the adsorption force of the adsorption device on the fabric is less than the weight of the fabric, increase the adsorption force of the adsorption device on the pattern to bear the excess weight of the fabric through the pattern, thereby reducing the situation where the adsorption device is difficult to adsorb the pattern.

[0018] Optionally, it further includes a dehumidification method, and the dehumidification method includes: When there is a pattern on the fabric, obtain the ambient humidity; When the ambient humidity exceeds a preset adsorption threshold, determine the upper temperature limit according to the fabric material and the pattern material; Determine the heating temperature according to the ambient humidity; When the heating temperature is higher than the upper temperature limit, define the upper temperature limit as the heating temperature; Control a preset heating device to reach the pattern position and heat according to the heating temperature.

[0019] By adopting the above technical solution, when the external humidity is high, it is easy to cause the charge loss on the fabric and the pattern, resulting in a reduction in the adsorption effect of the adsorption device on the fabric and the pattern. At this time, the fabric and the pattern are heated by the heating device to reduce the humidity on the fabric and the pattern, thereby reducing the charge loss on the fabric and the pattern.

[0020] Optionally, the dehumidification method further includes: Determine the adsorption material according to the fabric power and the adsorption power; Determine the heating time according to the heating temperature, the adsorption material and the ambient humidity; After the heating time, control the preset heating device to stop heating, and determine the electrifying material according to the adsorption material; Control a preset friction device to grab the electrifying material to the pattern position and rub.

[0021] By adopting the above technical solution, after the fabric and the pattern are heated by the heating device, the fabric and the pattern return to dryness, but it is difficult to restore the original charge amount. At this time, a suitable charge replenishing material is selected according to the material of the fabric or the pattern, and the charge replenishing material is rubbed on the fabric or the pattern by the friction device to replenish the charge lost by the fabric or the pattern, thereby improving the adsorption effect of the adsorption device on the fabric and the pattern.

[0022] Optionally, the dehumidification method further includes: Determine the lost charge amount according to the adsorption material and the ambient humidity; Determine the replenishing charge amount according to the electrifying material and the adsorption material; Determine the replenishing times according to the lost charge amount and the replenishing charge amount; Control a preset friction device to grab the electrifying material to the pattern position and rub according to the replenishing times.

[0023] By adopting the above technical solution, the higher the external humidity, the greater the charge loss of the pattern and the fabric. The charge loss amount of the fabric and the pattern is judged according to the external humidity value, so as to select the number of times of rubbing the charge replenishing material required to replenish the charge according to the charge loss amount, thereby improving the adsorption effect of the adsorption device on the fabric and the pattern.

[0024] In a second aspect, the present application provides a cloth flattening system based on visual positioning, adopting the following technical solutions: A cloth flattening system based on visual positioning, comprising: An acquisition module for acquiring cloth images and environmental humidity; A memory for storing any one of the above cloth flattening methods based on visual positioning; A processor capable of loading and executing the program in the memory.

[0025] By adopting the above technical solutions, images of the cloth are collected in real time, and patterns on the cloth are located from the images, so as to identify the material of the patterns to determine the electric charge carried by the patterns. Furthermore, an adsorption device generates a corresponding electrostatic field according to the electric charge carried by the patterns and adheres to the patterns to adsorb the patterns, thereby reducing the situation that the patterns are damaged due to friction between the patterns and devices such as conveyor belts during the cloth flattening process, and improving the convenience of cloth flattening.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: Images of the cloth are collected in real time, and patterns on the cloth are located from the images, so as to identify the material of the patterns to determine the electric charge carried by the patterns. Furthermore, an adsorption device generates a corresponding electrostatic field according to the electric charge carried by the patterns and adheres to the patterns to adsorb the patterns, thereby reducing the situation that the patterns are damaged due to friction between the patterns and devices such as conveyor belts during the cloth flattening process, and improving the convenience of cloth flattening; When the electric charge carried by the patterns is relatively low, the adsorption device needs to generate a relatively large electrostatic field to adsorb the patterns. At this time, the material of the cloth is identified from the cloth images to determine the electric charge carried by the cloth, so as to control the adsorption device to generate a corresponding electrostatic field according to the electric charge carried by the cloth to adsorb the cloth around the patterns, thereby pressing the patterns against the adsorption device through the cloth; When the patterns cannot be recognized from the cloth images, the height of the cloth is detected to identify the protrusions, so as to determine the positions of the patterns on the reverse side of the cloth as the positions of the protrusions, and identify the driving direction with the least influence on the patterns when the turning device slides against the cloth according to the pattern distribution on the reverse side of the cloth, thereby reducing the situation that the patterns are damaged due to sliding friction between the turning device and the cloth when the cloth is turned. Description of the Drawings

[0027] Figure 1 is the flow of the cloth flattening method based on visual positioning Figure One ; Figure 2 is the flow of the cloth flattening method based on visual positioning Figure Two ; Figure 3 is the flow of the attitude adjustment method Figure One ; Figure 4 is the flow of the attitude adjustment method Figure Two ; Figure 5 is the flow of the attitude adjustment method Figure Three ; Figure 6 is the flow of the attitude adjustment method Figure Four ; Figure 7 is the flow of the dehumidification method Figure One ; Figure 8 is the flow of the dehumidification method Figure Two ; Figure 9 is the flow of the dehumidification method Figure Three . Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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.

[0029] Refer to Figure 1 , the cloth flattening method based on visual positioning includes: Step 100: Obtain a cloth image.

[0030] The cloth image refers to a picture of the cloth to be flattened, and the cloth image can be obtained by a camera fixed on the flattening device. The flattening device refers to a device for flattening the cloth composed of devices such as a conveyor belt and rollers. The method for obtaining the cloth image and the flattening device are selected by the staff according to the actual situation and will not be elaborated here.

[0031] Step 101: Judge whether there is a pattern on the cloth according to the cloth image.

[0032] The pattern refers to a visual image different from the material of the cloth drawn on the cloth by means of textile, printing and dyeing, etc. The pattern can be recognized from the cloth image according to the color difference through image recognition technology. The recognition method of the pattern is common knowledge for those skilled in the art and will not be elaborated here.

[0033] Step 102: When there is a pattern on the cloth, determine the pattern position according to the cloth image.

[0034] The existence of a pattern on the cloth means that there is a pattern on the exposed side of the cloth, and the pattern position is the position information of the pattern on the cloth. The pattern position can be determined by image recognition technology. The determination method of the pattern position is common knowledge for those skilled in the art and will not be elaborated here.

[0035] Step 103: Determine the pattern material based on the pattern position.

[0036] The pattern material refers to the type of material that makes up the pattern. The pattern material can be determined by comparing the pattern in the image with a pre-set material sample image through image recognition technology. The method for determining the pattern material is common knowledge for those skilled in the art and will not be elaborated here.

[0037] Step 104: Determine the pattern coefficient according to the pattern material.

[0038] The pattern coefficient refers to the electric charge carried per unit area of the pattern material. The pattern coefficient can be obtained by querying from a charge relationship table, which is a data table recording different materials and their corresponding electric charges.

[0039] Step 105: Determine the adsorption power according to the pattern coefficient.

[0040] The adsorption device is a device that generates static electricity through discharging to adsorb fabrics or patterns. The adsorption device is selected by the staff according to the actual situation and will not be elaborated here. The adsorption power is the discharging power required to adsorb the pattern through the adsorption device. The electric charge required to adsorb the pattern can be determined by Coulomb's law, and then the adsorption power corresponding to the electric charge can be obtained by querying from a power relationship table, which is a data table recording the power values required for the adsorption device to generate different electric charges.

[0041] Step 106: Control the preset adsorption device to reach the pattern position and perform adsorption according to the adsorption power.

[0042] Real-time collect the image of the fabric, locate the pattern on the fabric from the image, thereby identify the material of the pattern to determine the electric charge carried by the pattern, and then generate a corresponding electrostatic field through the adsorption device according to the electric charge carried by the pattern and fit the pattern to adsorb the pattern, so as to reduce the situation that the pattern is damaged due to the friction between the pattern and devices such as the conveyor belt during the flattening process of the fabric, and improve the convenience of flattening the fabric.

[0043] Refer to Figure 2 , the fabric flattening method based on visual positioning further includes: Step 107: When there is a pattern on the fabric, determine the fabric material according to the fabric image.

[0044] The fabric material refers to the type of material that makes up the fabric. The fabric material can be determined by comparing the pattern in the image with a pre-set material sample image through image recognition technology. The method for determining the fabric material is common knowledge for those skilled in the art and will not be elaborated here.

[0045] Step 108: Determine the fabric coefficient according to the fabric material.

[0046] The cloth coefficient refers to the amount of charge carried per unit area of the cloth material. The cloth coefficient can be obtained from the charge relationship table. The charge relationship table refers to a data table that records different materials and their corresponding charge amounts.

[0047] Step 109: When the cloth coefficient is greater than the pattern coefficient, the pattern area is determined based on the pattern position.

[0048] The cloth coefficient is greater than the pattern coefficient, which means that the adsorption effect of the adsorption device on the cloth is greater than the adsorption effect on the pattern. The pattern area refers to the area value of the pattern. The pattern area can be determined by image recognition technology. The method for determining the pattern area is common knowledge among skilled personnel and will not be elaborated here.

[0049] Step 110: When the pattern area is smaller than a preset adsorption threshold, determine the cloth area based on the pattern position.

[0050] The adsorption threshold refers to the contact surface area between the adsorption device and the fabric. The adsorption threshold is selected by the staff according to the actual situation and will not be elaborated here. The pattern area is smaller than the adsorption threshold, which means that when the adsorption device contacts the pattern, there is a part of the contact surface of the adsorption device in contact with the fabric. The fabric area is the contact area value between the contact surface and the fabric. The fabric area can be determined by comparing the contact surface shape of the adsorption device and the shape of the pattern through image recognition technology. The contact surface shape can be input in advance by the staff. The method for determining the fabric area is common knowledge among skilled personnel and will not be elaborated here.

[0051] Step 111: Determine the pattern weight according to the pattern material and the pattern area.

[0052] Pattern weight refers to the weight value of the pattern. The weight value per unit area corresponding to the pattern material can be queried from the weight relationship table, and then the product of the weight value per unit area and the pattern area is calculated to obtain the pattern weight. The method for determining the pattern weight is common knowledge among skilled personnel and will not be elaborated here.

[0053] Step 112: Determine the cloth power according to the pattern weight, cloth coefficient and cloth area.

[0054] Fabric power refers to the discharge power required to adsorb the fabric through the adsorption device so as to press the pattern onto the adsorption device through the fabric. The amount of charge required to adsorb the overall weight of the fabric and the pattern can be determined by Coulomb's law, and the adsorption power corresponding to the charge can be obtained from the power relationship table.

[0055] Step 113: When the cloth power is lower than the adsorption power, a preset adsorption device is controlled according to the cloth power to reach the pattern position and perform adsorption.

[0056] When the fabric power is lower than the adsorption power, it means that the energy consumption required to adsorb the pattern by adsorbing the fabric is lower than that required to directly adsorb the pattern. When the charge carried by the pattern is relatively low, the adsorption device needs to generate a relatively large electrostatic field to adsorb the pattern. At this time, the material of the fabric is identified through the image recognition of the fabric to determine the charge carried by the fabric, so as to control the adsorption device to generate a corresponding electrostatic field according to the charge carried by the fabric to adsorb the fabric around the pattern, so that the pattern is pressed against the adsorption device through the fabric.

[0057] Referring to Figure 3 , the posture adjustment method includes: Step 200: Determine the raised position according to the fabric image.

[0058] The raised position refers to the position information of the part on the fabric with a height higher than other positions. The raised position can be obtained by using an edge operator through image recognition technology. The fabric in the fabric image is in an unsmoothed state. After the edges in the image are recognized by the edge operator, they need to be compared with the fabric image to remove the raised parts caused by the bending of the fabric. The method for determining the raised position is common knowledge for those skilled in the art and will not be elaborated here.

[0059] Step 201: When there is no pattern on the fabric, determine the number of raised parts according to the raised position.

[0060] When there is a pattern on the fabric, it is easy to cause raised parts on the fabric. When there is no pattern on the fabric, it means that all the raised parts on the fabric are caused by the pattern on the reverse side of the fabric. The reverse side of the fabric refers to the side that is in contact with the flattening device and is not exposed downward, and the front side of the fabric is the side that is exposed upward and not in contact with the flattening device. The number of raised parts refers to the number of raised positions. The method for determining the number of raised parts is common knowledge for those skilled in the art and will not be elaborated here.

[0061] Step 202: When the number of raised parts is greater than 0, determine the fabric size according to the fabric image.

[0062] When the number of raised parts is greater than 0, it means that there is a pattern on the reverse side of the fabric and no pattern on the front side of the fabric. The fabric size refers to the total area value of the fabric. The fabric size can be determined through image recognition technology. The method for determining the fabric size is common knowledge for those skilled in the art and will not be elaborated here.

[0063] Step 203: Determine the driving area according to the fabric size.

[0064] The flipping device refers to the equipment used to flip the fabric. Generally, it uses rollers and a conveyor belt in cooperation. The fabric is conveyed to the rollers through the conveyor belt, so that the fabric rubs against the rollers. Then, the rollers drive the fabric to rotate, and thus the fabric rotates with the rollers to the other side. The flipping device is selected by the staff according to the actual situation and will not be elaborated here. The driving area refers to the minimum contact area required to drive the fabric to move through the flipping device. The driving area can be obtained by querying from the driving relationship table. The driving relationship table refers to the data table that records different fabric sizes and their corresponding driving areas.

[0065] Step 204: Determine the driving area according to the fabric image and the driving area.

[0066] The driving area refers to the minimum friction area between the fabric and the rollers in the setting direction of the rollers of the flipping device, that is, the area not less than the driving area. When there are multiple rollers, there are multiple driving areas. The driving area can be determined by image recognition technology. The method for determining the driving area is common knowledge for those skilled in the art and will not be elaborated here.

[0067] Step 205: Determine the raised area based on the raised position.

[0068] The raised area refers to the range of the raised part on the fabric. The raised area can be determined by image recognition technology. The method for determining the raised area is common knowledge for those skilled in the art and will not be elaborated here.

[0069] Step 206: Determine the overlapping area according to the driving area and the raised area.

[0070] The overlapping area refers to the area value of the area where the raised area overlaps with the driving area. When there are multiple driving areas, the overlapping areas between different driving areas and the raised area are calculated respectively. The method for calculating the overlapping area is common knowledge for those skilled in the art and will not be elaborated here.

[0071] Step 207: Select the driving direction according to the overlapping area and the driving area.

[0072] The driving direction refers to the direction in which the conveyor belt of the flipping device sends the fabric to the rollers. First, the driving area corresponding to the smallest overlapping area can be selected, and then the relative position of the driving area in the fabric image on the fabric is compared to determine the driving direction. The method for determining the driving direction is common knowledge for those skilled in the art and will not be elaborated here.

[0073] Step 208: Control the preset flipping device to flip the fabric according to the driving direction and update the fabric image.

[0074] When the pattern cannot be recognized from the image of the fabric, the height of the fabric is detected to identify the protrusions, so as to determine the positions of the protrusions as the positions of the patterns on the reverse side of the fabric, and the driving direction with the least influence on the patterns when the turning device slides against the fabric is identified according to the pattern distribution on the reverse side of the fabric, thereby reducing the damage to the patterns caused by the sliding friction between the turning device and the fabric when turning the fabric.

[0075] Referring to Figure 4 , the attitude adjustment method further includes: Step 209: When there is a pattern on the fabric, determine the reverse side position according to the protrusion position and the pattern position.

[0076] The presence of a pattern on the fabric means that it is difficult to distinguish whether the protrusions are caused by the pattern on the front or the reverse side. The reverse side position refers to the position information where there is only a pattern on the reverse side, which can be obtained by deleting the part of the protrusion position that coincides with the pattern position. The method for determining the reverse side position is common knowledge for those skilled in the art and will not be elaborated here.

[0077] Step 210: Determine the number of reverse sides according to the reverse side position.

[0078] The number of reverse sides refers to the number of patterns located on the reverse side, that is, the number of reverse side positions. The method for determining the reverse side position is common knowledge for those skilled in the art and will not be elaborated here.

[0079] Step 211: When the number of reverse sides is greater than 0, determine the reverse side area based on the reverse side position.

[0080] The number of reverse sides being greater than 0 means that there are patterns on both the front and the reverse sides. The reverse side area refers to the area value of the protrusion range of the reverse side position. The reverse side area can be determined by image recognition technology. The method for determining the reverse side area is common knowledge for those skilled in the art and will not be elaborated here.

[0081] Step 212: When the reverse side area is greater than the pattern area, control the preset turning device to turn the fabric and update the fabric image.

[0082] The reverse side area being greater than the pattern area means that the pattern range on the reverse side is larger than the pattern range on the front side. According to Coulomb's law, the adsorption effect of the adsorption device on the pattern decreases rapidly with the distance between the pattern and the adsorption device. To reduce the energy consumption of the adsorption device, it should be ensured that the side of the fabric with more patterns faces upward to facilitate the adsorption of the pattern by the adsorption device, and at the same time, the contact between the pattern and the flattening device should be reduced. At this time, the fabric is turned by the turning device.

[0083] Step 213: Based on the situation where the reverse side area is not greater than the pattern area, determine the fabric thickness according to the fabric material.

[0084] After ensuring that the side with more fabric patterns faces upward, it is necessary to adsorb the patterns on the back through the fabric. The fabric thickness is the average thickness of the fabric, which can be obtained by querying the thickness data table. The thickness data table refers to the data table that records different fabric materials and their corresponding fabric thicknesses.

[0085] Step 214: Determine the adsorption power according to the fabric thickness and the pattern coefficient.

[0086] The adsorption power is the minimum power required for the adsorption device to adsorb the pattern through the fabric.

[0087] Step 215: Control the preset adsorption device to reach the reverse side position according to the adsorption power and perform adsorption.

[0088] When there are patterns on both the front and back of the fabric, keep the side with the larger pattern area of the fabric upward to reduce the contact between the pattern and devices such as the conveyor belt, and at the same time improve the adsorption effect of the adsorption device on the pattern. For the pattern located on the back of the fabric, adsorb it through the fabric by the adsorption device to reduce the situation of pattern damage.

[0089] Refer to Figure 5 , the attitude adjustment method further includes: Step 216: When there is a pattern on the fabric, determine the reverse side height based on the reverse side position.

[0090] The reverse side height refers to the height value of the reverse side position, and the height value of the reverse side position in the fabric image can be identified through image recognition technology. When there are multiple reverse side positions, select the smallest height value among them as the reverse side height. The method for determining the reverse side height is common knowledge for those skilled in the art and will not be elaborated here.

[0091] Step 217: Determine the double-layer threshold according to the reverse side height.

[0092] The double-layer threshold refers to the minimum height value when there are patterns on both sides of the same position of the fabric. First, calculate the difference between the reverse side height and the fabric thickness, and multiply the difference by two and then add the fabric thickness as the double-layer threshold.

[0093] Step 218: Determine the pattern height based on the pattern position.

[0094] The pattern height refers to the height value of the pattern position, and the pattern height can be identified through image recognition technology. The method for determining the pattern height is common knowledge for those skilled in the art and will not be elaborated here.

[0095] Step 219: When the pattern height is higher than the double-layer threshold, define the pattern position as the reverse side position.

[0096] When there are patterns on both sides of the same position of the fabric, it is difficult to directly judge through the protrusions. Retrieve the height of the position where there is no pattern but there are protrusions in the image, that is, the height of the fabric with patterns only on the reverse side, and then generate the minimum height value for both sides with patterns, so as to judge whether there are patterns on both sides according to the minimum height value.

[0097] Refer to Figure 6 , the attitude adjustment method further includes: Step 220: When the fabric coefficient is less than the pattern coefficient, determine the fabric weight according to the fabric material and the pattern area.

[0098] The fabric coefficient being less than the pattern coefficient means that the adsorption effect of the adsorption device on the fabric is lower than that on the pattern. The fabric weight is the weight of the fabric overlapping with the pattern. The weight value per unit area corresponding to the fabric material can be queried from the weight relationship table, and then the product of the weight value per unit area and the pattern area is calculated to obtain the fabric weight. The method for determining the fabric weight is common knowledge for those skilled in the art and will not be elaborated here.

[0099] Step 221: Determine the adsorption force according to the adsorption power, the fabric coefficient and the pattern area.

[0100] The adsorption force refers to the adsorption force of the adsorption device on the fabric. The charge value corresponding to the adsorption power can be queried from the power relationship table, and then according to the charge value and the fabric coefficient, the adsorption force per unit area of the adsorption device on the fabric is calculated according to Coulomb's law. Finally, the product of the adsorption force per unit area and the pattern area is calculated to obtain the adsorption force.

[0101] Step 222: Calculate the difference between the fabric weight and the adsorption force, and define it as the load weight.

[0102] The load weight refers to the remaining weight value of the fabric after the fabric weight and the adsorption force are offset.

[0103] Step 223: When the load weight is greater than 0, determine the adsorption power according to the load weight, the fabric thickness and the pattern coefficient.

[0104] The load weight being greater than 0 means that the adsorption device has not completely adsorbed the fabric, and it is necessary to improve the adsorption effect on the pattern to press the fabric against the surface of the adsorption device through the pattern. The adsorption power is the minimum power value required to adsorb the load weight and the pattern itself.

[0105] When the adsorption device adsorbs the pattern through the fabric, the adsorption device needs to first adsorb the fabric. When the adsorption force of the adsorption device on the fabric is less than the weight of the fabric, the adsorption force of the adsorption device on the pattern is increased to bear the excess weight of the fabric through the pattern, thereby reducing the situation where the adsorption device has difficulty in adsorbing the pattern.

[0106] Refer toFigure 7 , the dehumidification method includes: Step 300: When there is a pattern on the fabric, obtain the ambient humidity.

[0107] The ambient humidity refers to the humidity value of the space where the flattening device is located. The ambient humidity can be obtained through the humidity sensor on the flattening device. The method for obtaining the ambient humidity is selected by the staff according to the actual situation and will not be elaborated here.

[0108] Step 301: When the ambient humidity exceeds the preset adsorption threshold, determine the temperature upper limit according to the fabric material and the pattern material.

[0109] The adsorption threshold refers to the maximum humidity value at which the humidity does not affect the adsorption of the pattern and the fabric by the adsorption device. The adsorption threshold is selected by the staff according to the actual situation and will not be elaborated here. When the ambient humidity exceeds the adsorption threshold, it means that the humidity of the environment is too high, which easily leads to the loss of charges on the fabric and the pattern, and then reduces the adsorption of the pattern and the fabric by the adsorption device. The temperature upper limit refers to the maximum temperature value that the fabric and the pattern can withstand heating. The temperature values corresponding to the fabric material and the pattern material can be respectively queried from the temperature relationship table, and the lower one is selected as the temperature upper limit. The temperature relationship table refers to the data table recording different materials and their corresponding temperature upper limits.

[0110] Step 302: Determine the heating temperature according to the ambient humidity.

[0111] The heating device refers to the device used to heat the fabric and the pattern to reduce the humidity of the fabric and the pattern, generally using an electric heating wire. The heating device is selected by the staff according to the actual situation and will not be elaborated here. The heating temperature refers to the temperature value required to reduce the humidity of the fabric and the pattern from the ambient humidity to the adsorption threshold through the heating device. The heating temperature corresponding to the ambient humidity can be queried from the heating relationship table. The heating relationship table refers to the table recording different ambient humidities and their corresponding heating temperatures.

[0112] Step 303: When the heating temperature is higher than the temperature upper limit, define the temperature upper limit as the heating temperature.

[0113] When the heating temperature is higher than the temperature upper limit, it means that the heating temperature is too high. Heating with the heating temperature is likely to cause damage to the pattern or the fabric. At this time, the lower temperature upper limit is taken as the heating temperature.

[0114] Step 304: Control the preset heating device to reach the pattern position and heat according to the heating temperature.

[0115] When the external humidity is relatively high, it is easy to cause the loss of charge on the fabric and the pattern, resulting in a reduction in the adsorption effect of the adsorption device on the fabric and the pattern. At this time, the fabric and the pattern are heated by a heating device to reduce the humidity on the fabric and the pattern, thereby reducing the loss of charge on the fabric and the pattern.

[0116] Refer to Figure 8 , the dehumidification method further includes: Step 305: Determine the adsorption material according to the fabric power and the adsorption power.

[0117] The adsorption material refers to the material used by the adsorption device for adsorption. When the fabric power is lower than the adsorption power, the fabric material is used as the adsorption material. When the fabric power is not lower than the adsorption power, the pattern material is used as the adsorption material.

[0118] Step 306: Determine the heating time according to the heating temperature, the adsorption material, and the environmental humidity.

[0119] The heating time refers to the minimum time required to heat the adsorption material from the environmental humidity to the adsorption threshold at the heating temperature. The method for determining the heating time is common knowledge for those skilled in the art and will not be elaborated here.

[0120] After the heating time, control the preset heating device to stop heating, and determine the electrifying material according to the adsorption material.

[0121] The electrifying material refers to the material used to supplement the charge of the adsorption material. Material blocks of different electrifying materials are made in advance for easy access. Different adsorption materials correspond to different electrifying materials. For example, glass corresponds to silk, fur corresponds to rubber, and cotton corresponds to plastic. The electrifying material can be obtained by querying the electrifying correspondence table, which is a data table recording different adsorption materials and their corresponding electrifying materials.

[0122] Step 308: Control the preset friction device to grab the electrifying material to the pattern position and rub.

[0123] The friction device refers to a device used to grab the electrifying material and drive the electrifying material to reciprocate on the fabric surface. The friction device can adopt a robotic arm with claws. The friction device is selected by the staff according to the actual situation and will not be elaborated here.

[0124] After the fabric and the pattern are heated by the heating device, the fabric and the pattern become dry, but it is difficult to restore the original charge amount. At this time, a suitable charge replenishing material is selected according to the material of the fabric or the pattern, and the charge replenishing material is rubbed on the fabric or the pattern by the friction device to supplement the charge lost by the fabric or the pattern, thereby improving the adsorption effect of the adsorption device on the fabric and the pattern.

[0125] Refer to Figure 9 , the dehumidification method further includes: Step 309: Determine the power loss according to the adsorption material and the environmental humidity.

[0126] The power loss refers to the difference between the stable charge amount of the adsorption material under the environmental humidity and its corresponding coefficient. For example, when the adsorption material is a cloth material, first query the stable charged amount of the cloth material under the environmental humidity from the charged data table, and then calculate the difference between the cloth coefficient and the charged amount to obtain the power loss. The charged data table refers to the data table that records different materials, environmental humidity, and their corresponding charged amounts.

[0127] Step 310: Determine the supplementary power according to the electrified material and the adsorption material.

[0128] The supplementary power refers to the charge amount supplemented to the adsorption material by rubbing the electrified material on the adsorption material once. The determination method of the supplementary power is common knowledge for those skilled in the art and will not be elaborated here.

[0129] Step 311: Determine the supplementary times according to the power loss and the supplementary power.

[0130] The supplementary times refer to the number of times of rubbing required to supplement the power loss by rubbing the electrified material on the adsorption material. The determination method of the supplementary times is common knowledge for those skilled in the art and will not be elaborated here.

[0131] Step 312: Control the preset friction device to grab the electrified material to the pattern position and rub according to the supplementary times.

[0132] The higher the external humidity, the greater the charge amount lost by the pattern and the cloth. Determine the charge loss amounts of the cloth and the pattern according to the external humidity value, and thus select the number of times of rubbing the supplementary charge material required to supplement the charge according to the charge loss amount, thereby improving the adsorption effect of the adsorption device on the cloth and the pattern.

[0133] Based on the same inventive concept, an embodiment of the present invention provides a cloth flattening system based on visual positioning, including: An acquisition module, configured to acquire a cloth image and environmental humidity; A memory, configured to store any one of the above cloth flattening methods based on visual positioning; A processor, and the program in the memory can be loaded and executed by the processor.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the above-described system, device, and unit, reference can be made to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

[0135] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A method for flattening fabric based on visual positioning, characterized in that, Comprising: Obtain a cloth image; Judge whether there is a pattern on the cloth according to the cloth image; When there is a pattern on the cloth, determine the pattern position according to the cloth image; Determine the pattern material based on the pattern position; Determine the pattern coefficient according to the pattern material; Determine the adsorption power according to the pattern coefficient; Control a preset adsorption device to reach the pattern position and perform adsorption according to the adsorption power.

2. The method for paving fabric based on visual positioning according to claim 1, characterized in that Also comprising: When there is a pattern on the cloth, determine the cloth material according to the cloth image; Determine the cloth coefficient according to the cloth material; When the cloth coefficient is greater than the pattern coefficient, determine the pattern area based on the pattern position; When the pattern area is less than a preset adsorption threshold, determine the cloth area based on the pattern position; Determine the pattern weight according to the pattern material and the pattern area; Determine the cloth power according to the pattern weight, the cloth coefficient and the cloth area; When the cloth power is lower than the adsorption power, control a preset adsorption device to reach the pattern position and perform adsorption according to the cloth power.

3. The method for laying flat fabric based on visual positioning according to claim 2, wherein Also comprising an attitude adjustment method, the attitude adjustment method comprising: Determine the bulge position according to the cloth image; When there is no pattern on the cloth, determine the number of bulges according to the bulge position; When the number of bulges is greater than 0, determine the cloth size according to the cloth image; Determine the driving area according to the cloth size; Determine the driving region according to the cloth image and the driving area; Determine the bulge region based on the bulge position; Determine the overlapping area according to the driving region and the bulge region; Select the driving direction according to the overlapping area and the driving region; Control a preset flipping device to flip the cloth according to the driving direction and update the cloth image.

4. The method for flattening fabric based on visual positioning according to claim 3, characterized in that, The attitude adjustment method further comprises: When there is a pattern on the cloth, determine the reverse side position according to the bulge position and the pattern position; Determine the number of reverse sides according to the reverse side position; When the number of reverse sides is greater than 0, determine the reverse side area based on the reverse side position; When the reverse side area is greater than the pattern area, control a preset flipping device to flip the cloth according to the driving direction and update the cloth image; Based on the situation that the reverse side area is not greater than the pattern area, determine the cloth thickness according to the cloth material; Determine the adsorption power according to the cloth thickness and the pattern coefficient; Control a preset adsorption device to reach the reverse side position and perform adsorption according to the adsorption power.

5. The method for laying flat fabric based on visual positioning according to claim 4, wherein, The attitude adjustment method further comprises: When there is a pattern on the cloth, determine the reverse side height based on the reverse side position; Determine the double-layer threshold according to the reverse side height; Determine the pattern height based on the pattern position; When the pattern height is higher than the double-layer threshold, define the pattern position as the reverse side position.

6. The method for flattening fabric based on visual positioning according to claim 4, wherein, The attitude adjustment method further comprises: When the cloth coefficient is less than the pattern coefficient, determine the cloth weight according to the cloth material and the pattern area; Determine the adsorption force according to the adsorption power, the cloth coefficient and the pattern area; Calculate the difference between the cloth weight and the adsorption force and define it as the load weight; When the load weight is greater than 0, determine the adsorption power according to the load weight, the cloth thickness and the pattern coefficient.

7. The method for paving fabric based on visual positioning according to claim 2, characterized in that Also comprising a dehumidification method, the dehumidification method comprising: When there is a pattern on the cloth, obtain the ambient humidity; When the ambient humidity exceeds a preset adsorption threshold, determine the temperature upper limit according to the cloth material and the pattern material; Determine the heating temperature according to the ambient humidity; When the heating temperature is higher than the temperature upper limit, define the temperature upper limit as the heating temperature; Control the preset heating device to reach the pattern position and heat according to the heating temperature.

8. The method for laying flat fabric based on visual positioning according to claim 7, characterized in that, The dehumidification method further includes: Determine the adsorption material according to the fabric power and the adsorption power; Determine the heating time according to the heating temperature, the adsorption material and the ambient humidity; After the heating time, control the preset heating device to stop heating, and determine the energized material according to the adsorption material; Control the preset friction device to grab the energized material to the pattern position and rub.

9. The method for laying out fabric based on visual positioning according to claim 8, wherein The dehumidification method further includes: Determine the power loss according to the adsorption material and the ambient humidity; Determine the supplementary power according to the energized material and the adsorption material; Determine the supplementary times according to the power loss and the supplementary power; Control the preset friction device to grab the energized material to the pattern position and rub according to the supplementary times.

10. A cloth flattening system based on visual positioning, characterized in that, It includes: An acquisition module for acquiring a fabric image and the ambient humidity; A memory for storing the vision-based fabric flattening method according to any one of claims 1 to 9; A processor, and the program in the memory can be loaded and executed by the processor.

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