Sorting method of intelligent cloth inspecting and packaging robot

Abstract

The invention belongs to the technical field of intelligent cloth inspection, packaging and sorting, and discloses an intelligent cloth inspection and packaging robot sorting method which comprises the steps that cloth inspection equipment inspects defect types of cloth and outputs corresponding data labels, visual code scanning and distribution are compared with preset cloth inspection data threshold values, and qualified products, to-be-reinspected products and inferior-quality products are judged and distributed; if a defective product is judged, the defective product enters a defective product discharging platform through a set conveying belt, the efficiency is greatly improved from inspection equipment detection, visual code scanning, packaging, labeling, robot sorting to the end, the cost is reduced, and the labor cost is greatly saved; the detection equipment can detect the cloth of 50-70 meters per minute, and the cloth detection efficiency is greatly improved by combining repairing, stain removal and thread hooking and trimming; the omission ratio is reduced every month, and the qualified rate is improved; the robot sorting and stacking efficiency is improved compared with manual work, and the cost is reduced; and quality optimization: the breakage rate is reduced, the omission ratio is reduced, and the qualified product rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical fields of cloth inspection, packaging, and robot sorting, and specifically provides an intelligent cloth inspection, packaging, and robot sorting method. Background Art

[0002] After the cloth is wound into a roll, the following operations need to be performed on the cloth roll: bagging and packaging, labeling by cylinder and color separation, then transporting to their respective workstations, and finally stacking and storing.

[0003] The above operation has many links and many working locations, with low work efficiency, poor safety, high labor intensity, and a dirty and messy working environment. Therefore, improvement is needed. Summary of the Invention

[0004] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0005] An intelligent cloth inspection, packaging, and robot sorting method. The cloth inspection equipment inspects the defect types of the cloth and outputs corresponding data labels. Visual scanning and sorting compare the preset cloth inspection data threshold to determine and sort out qualified products, products to be re-inspected, and defective products;

[0006] If it is determined to be a finished product, it enters packaging and robot sorting through a set conveyor belt, and after sorting, it is labeled and enters the warehousing system;

[0007] If it is determined to be a product to be re-inspected, it enters manual sorting for classification of repaired products and defective products. If it is manually determined to be a repaired product, after repair, it is re-inspected by the cloth inspection equipment;

[0008] If it is determined to be a defective product, it enters the defective product discharge platform through a set conveyor belt.

[0009] As a preferred solution of the present invention, there is a cloth defect map in the system, which is displayed on the interactive screen. The cloth width is used as the X-axis and the cloth length is used as the Y-axis, and the coordinates of each detected defect are displayed on the cloth defect map.

[0010] As a preferred solution of the present invention, the preset total deduction value for defect determination is as follows:

[0011] Qualified product: total deduction ≤ 10 points. The defects of this type of cloth are few and do not affect normal use and appearance, and can directly enter the subsequent packaging;

[0012] Defective product: total deduction > 20 points. The defects of this type of cloth seriously affect its use value and are scrapped;

[0013] Product to be re-inspected: 10 points < total deduction ≤ 20 points. There are a certain number of defects in this type of cloth, and repair or price reduction treatment is required.

[0014] As a preferred embodiment of the present invention, the deduction weight of fabric defects is dynamically adjusted under the following circumstances:

[0015] Production process feedback: If a certain defect is frequently found during the production process, increase the deduction standard for this defect to prompt the improvement of the production process;

[0016] Customer feedback: Adjust the weight in a timely manner according to the customer's feedback on the fabric quality to meet the customer's needs;

[0017] Market demand changes: When the market's requirements for fabric quality increase or decrease, adjust the defect weight deduction standard accordingly.

[0018] As a preferred embodiment of the present invention, in the packaging process of the fabric, when a film change operation is to be performed, the fabric turning device sends a signal for film change, and the fabric turning device makes a priority determination to handle the fabric guiding during the film change and guides the fabric to the temporary storage area of the standby channel;

[0019] After the fabric packaging device completes the film change and sends a signal, the fabric turning device resumes the original conveying path and continues to supply fabric to the fabric packaging device.

[0020] As a preferred embodiment of the present invention, in visual code scanning and sorting, by setting a synchronous belt and a lifting mechanism connected to the synchronous belt, the lifting mechanism lifts the synchronous belt, and the synchronous belt rotates under the drive of the motor rotation, and labels attached to the fabric in any direction are detected.

[0021] As a preferred embodiment of the present invention, for multi-objective task scheduling, the system allocates in the following order:

[0022] Order content is given priority for processing;

[0023] Order urgency is given secondary processing;

[0024] According to the device status, idle robots give priority to receiving orders and generating task queues.

[0025] As a preferred embodiment of the present invention, it includes a robot grasping and palletizing process: a vision sensor scans the label information, the upper computer receives the label information, and allocates robots for grasping and palletizing according to the upper pallet positions, upper pallet types, upper lengths, upper diameters, etc. in the palletizing area; the robot grasps the corresponding fabric and stacks it on the pallet position until the pallet position is full, and the upper computer receives the full-pallet information and performs warehousing or boxing processing on the fabric at this pallet position.

[0026] As a preferred embodiment of the present invention, the robot executes target region decision sorting, divides the entire sorting range into different regions, and the robot grabs according to the system settings and places the items into the corresponding sorting regions.

[0027] As a preferred embodiment of the present invention, the control system of the robot performs rotational grasping according to its own current position and the position of the target area sorting area. The robot moves at a set speed. When the robot reaches the position where the cloth is located, it grabs the cloth with precise grasping actions and places it in the stack.

[0028] Compared with the prior art:

[0029] A sorting method for a cloth intelligent inspection and packaging robot greatly improves the efficiency from inspection equipment detection → visual scanning code → labeling → packaging → robot sorting to the end, reduces costs, and greatly saves labor costs; the detection equipment can detect 50 - 70 meters of cloth per minute, and combines repair, stain removal, and trimming of hooked thread ends, greatly improving the cloth detection efficiency; the missed inspection rate decreases monthly, and the qualified product rate is increased to.

[0030] The sorting and stacking efficiency of the robot is improved compared to manual work, and the cost is reduced.

[0031] Quality optimization: The breakage rate decreases, the missed inspection rate decreases, and the qualified product rate increases. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the general flow chart of the sorting method for this cloth intelligent inspection and packaging robot;

[0033] Figure 2 is the flow diagram of the specific implementation manner of the sorting method for this cloth intelligent inspection and packaging robot;

[0034] Figure 3 is the schematic diagram of the production line of the sorting method for this cloth intelligent inspection and packaging robot;

[0035] Figure 4 is the top view of the synchronous belt 31 and the lifting mechanism 32 in the visual scanning code shunt 3;

[0036] Figure 5 is the cross-sectional view of the synchronous belt 31 and the lifting mechanism 32 in the visual scanning code shunt 3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail in conjunction with the attached Figures 1-5 description.

[0038] The present invention provides a sorting method for a cloth intelligent inspection and packaging robot, which involves the intelligent inspection, packaging of cloth, and robot sorting. Refer to Figure 1, its overall process is: start → fabric loading → inspection by inspection equipment → conveyor belt transportation → visual barcode scanning → sorting → packaging → labeling → robot sorting → end. Its overall process: The fabric enters the inspection equipment for inspection. After the inspection is completed, a label containing inspection information is attached. The fabric is placed on the conveyor belt for transportation, then enters visual barcode scanning, and then is sorted by the fabric thread-changing machine. The sorted fabric is packaged and enters the packaging process, labeled, and finally goes to robot sorting to end the process.

[0039] Reference Figure 3 , correspondingly, a sorting production line is disclosed, which sequentially includes a fabric inspection equipment 1, a belt conveyor 2, a visual scanning and sorting 3, a first fabric thread-changing machine 4, a fabric packaging machine 5, an automatic labeling machine 6, a second fabric thread-changing machine 7, a robot sorting 8, an artificial sorting table 9, and a defective product discharge platform 10.

[0040] First, the fabric inspection equipment 1 detects fabric defects, such as breakage, broken yarn, etc. The core role of the visual sensor and the system (the system is ERP in this embodiment) in the fabric inspection equipment 1 is to automatically detect defects by collecting, processing, and analyzing fabric images. It includes links such as hardware deployment, image acquisition, data processing, defect identification, and result feedback. The following is a detailed description in combination with Figures 1-5 Detailed description:

[0041] In the hardware, the visual sensor is a camera (located inside the fabric inspection equipment 1, not shown in the figure), which are respectively a line array camera: suitable for high-speed moving fabrics, obtaining continuous images by scanning line by line, suitable for detecting long strip or continuous defects; a area array camera: suitable for static or low-speed fabrics, obtaining a complete image at one time, suitable for detecting local defects, such as small area stains, holes, and special sensors: near-infrared cameras, internal structure defects of the fabric inspection equipment 1, hyperspectral cameras, analyzing color consistency.

[0042] The cameras are installed on both sides of the fabric inspection equipment 1 to achieve horizontal detection, and the cameras are installed above the fabric inspection equipment 1 to achieve vertical detection. An image acquisition card is used in the cameras to convert the camera signals into digital images, store the data and communicate with the system.

[0043] In the detection process, the ERP system is used, and visual algorithms are integrated. The images are collected, preprocessed for defect detection and identification. According to the fabric type, customer requirements, etc., the detection algorithm parameters can be adjusted in the system, such as the preset total deduction value for defects.

[0044] In a specific embodiment, the total deduction value of the defect determination preset value input into the model is as follows:

[0045] Qualified products: total deduction ≤ 10 points. Such fabrics have fewer defects and can directly enter the subsequent packaging process;

[0046] Defective products: Total deduction > 20 points. The defects of such fabrics seriously affect their usability and are disposed of as scrap.

[0047] Products to be reinspected: 10 points < total deduction ≤ 20 points. There are a certain number of defects in such fabrics and they need to be repaired.

[0048] The defects include the following types: color bar, color mottle, horizontal bar, thick weft, yarn knot, thick warp, broken warp, warp streak, pick mark, stain, tightness bar, foreign fiber, contaminated yarn, snag, hole, live wrinkle, dead wrinkle, floating hair, joint seam, edge defect, etc.; and letters or others are used to represent these defects. For example, the color bar defect is represented by the letter "A". When scanning a fabric, if a color bar defect appears, the letter "A" will appear on the interactive screen, and these defects are evaluated for deduction according to their severity.

[0049] In a further embodiment, there is a fabric defect map in the system, which is displayed on the interactive screen. Taking the fabric width as the X-axis and the fabric length as the Y-axis, each detected defect can be displayed on the fabric defect map. For example, the thick weft defect B appears on the fabric defect map, and the coordinates of the defect point of the thick weft defect B are: X: 1.3 Y: 98.4 (unit: meter), the size is 13.2※0.4 (unit: millimeter), and the deduction is 1 point. Thus, it is possible to clearly know the defect position, type, size, and deduction situation for repair or removal from the platform.

[0050] In a further embodiment, some defect models of the fabric are set as follows:

[0051] Hole: diameter ≤ 1mm, deduction 1 - 3 points; diameter between 1 - 5mm, deduction 5 - 10 points; diameter > 5mm, deduction 15 - 20 points;

[0052] Of course, the above parameters can be further refined. For example: diameter ≤ 1mm, deduction 1 - 4 points; diameter between 1 - 2mm, deduction 5 - 7 points; diameter between 3 - 4mm, deduction 8 - 14 points; diameter > 5mm, deduction 15 - 20 points; Preset and adjust the above weights in the human - machine interaction machine according to specific situations.

[0053] In the system, the fabric inspection device 1 inspects the defect types of the fabric and outputs corresponding data labels. The high - speed barcode scanner (120fps) in the visual barcode sorting 3 identifies the order number, compares with the preset fabric inspection data threshold. After defect detection and recognition, a sorting instruction is generated based on the detection result and a signal is sent to the system to enter the next step, such as qualified products → packaging area, products to be reinspected → manual sorting area, defective products → defective product discharge platform.

[0054] In the specific implementation of the visual barcode sorting 3, refer to Figures 4-5, after the cloth is detected by the cloth inspection device 1, a data label is attached. The cloth is conveyed by the belt conveyor 2 into the visual code scanning and sorting 3 link. In the visual code scanning and sorting 3, the visual device scans the cloth from top to bottom. Since the cloth is cylindrical, when the cloth reaches below the visual device, the label may not face the visual device, so there may be a situation where it cannot be scanned. Therefore, a synchronous belt 31 is set in this link. A lifting mechanism 32 is connected to the synchronous belt 31. The lifting mechanism 32 lifts the synchronous belt 31, so that the cloth is separated from the conveying equipment of the conveyor and rotates under the drive of the rotation of the synchronous belt 31. In this way, labels attached to the cloth in any direction can be detected.

[0055] Furthermore, the lifting mechanism 32 includes a cylinder 321. A first connecting rod 322 is connected to the cylinder 321. Guide columns 323 are respectively arranged on both sides of the first connecting rod 322. A second connecting rod 324 is connected to the two guide columns 323. The synchronous belt 31 is connected to the second connecting rod 324. The synchronous belt 31 is lifted by the cylinder 321. The synchronous belt 31 rotates through the connected motor 311. The cylinder 321 and the motor 311 are connected to the system by lines and operate when they receive the system command, scanning labels attached to the cloth in any direction.

[0056] If it is determined to be a qualified product, it enters the packaging and robot sorting through the set conveyor belt. After sorting, labeling enters the next step;

[0057] If it is determined to be a product to be re-inspected, it enters the manual sorting for classification of repaired products and defective products or price reduction treatment; after the repair is completed, it is re-inspected by the cloth inspection device 1.

[0058] If it is determined to be a defective product, it enters the defective product discharge platform 10 through the conveyor belt for scrapping treatment.

[0059] In some embodiments, the deduction weight of cloth defects is dynamically adjusted in the following situations:

[0060] Production process feedback: If a certain defect is found to occur frequently during the production process, the cloth inspection device 1 is used to record various defect information of each piece of cloth. The ERP data software in the upper computer analyzes the defect frequency for cloth defects such as broken yarns and holes. The data collected every day or every week is statistically analyzed. The data analysis software is used to obtain the defect frequency, intuitively display the occurrence of various defects, and calculate the frequency of each defect.

[0061] For example, for detecting broken warp, the time is set to 24 hours. The visual device in the fabric inspection equipment 1 is used to collect fabric defect information, with the precision set at the mm level, along with the quality grade (qualified / defective / waste), in coordination with the order number, defect coordinates, etc.; the conveying speed of the fabric conveyor 2. Assume that the length of the fabric that the fabric inspection equipment 1 can cover in each detection is L centimeters. To ensure that every part of the fabric can be detected and the fabric inspection equipment 1 can obtain a complete and clear inspection report for analysis during each detection.

[0062] For example, the visual device can detect 50 - 70 meters of fabric per minute. It is found in the inspection report that the number of broken warp during this 24 - hour detection exceeds 20% of the usual level. The system issues an alarm to find the cause and adjust and improve the production process or equipment.

[0063] In addition, according to customer feedback: Based on the customer's feedback on the fabric quality, the weights are adjusted in a timely manner to meet customer needs; changes in market demand: When the market's requirements for fabric quality increase or decrease, the defect weight deduction standard is adjusted accordingly.

[0064] The fabrics determined to be qualified enter the packaging process. When the fabric packaging machine 5 in the packaging process enters the film - changing process, a first fabric thread - changing machine 4 is set before the packaging process to interrupt the conveying path of the fabric being packaged currently and give priority to handling the fabric guiding during the film - changing period.

[0065] In some specific embodiments, when the film - changing action of the first fabric thread - changing machine 4 starts, it sends a signal of "in film - changing" to the system. The first fabric thread - changing machine 4 conducts priority determination to first handle the fabric guiding during the film - changing period and guide the fabric to the fabric turning device; after the fabric packaging equipment completes the film - changing and sends a signal, the first fabric thread - changing machine 4 resumes the original conveying path and continues to supply fabric to the fabric packaging machine 5.

[0066] In some specific embodiments, for multi - target task scheduling, such as delivery time, fabric size, and equipment status, the system allocation sequence is as follows:

[0067] Priority is given to processing according to the order content. The order content includes specific specification requirements such as the type, material, color, width, length, etc. of the fabric; for example, if the order requires a grass - green fabric with a width of 1.8 meters and a length of 200 meters, the robot needs to accurately sort out the fabrics that meet the requirements based on this specification information.

[0068] According to the order urgency, a delivery time ≤ 24 hours is set as secondary;

[0069] According to the equipment status, idle robots give priority to accepting orders to generate a task queue.

[0070] The following describes the robot sorting 8 in detail. During the sorting process, the robot uses six-axis collaboration to grab the cloth to the target area, and uses the vacuum suction cup to make intelligent decisions on the gripping force. The system allocates the cloth into the robot sorting area according to the information on the label, and according to the weight of the cloth, such as silk 80g / m 2 , denim 300g / m 2 , the silk dynamically adjusts the gripping force to 1N / mm 2 , denim is 5N / mm 2 .

[0071] In some specific implementations, sorting is determined based on target regions, and the entire sorting range is divided into different regions, such as provinces, cities, and districts, based on actual business needs and geographical characteristics.

[0072] Specifically, the robot uses a path planning algorithm (such as the Dijkstra algorithm, which is not described in detail here) to calculate the optimal path based on the target geographical location of the item and the current location of the robot in the system. The robot moves to the item location according to the planned path, and then places the item in the corresponding sorting area according to the preset regional classification rules.

[0073] The following is a detailed description of the robot's palletizing process:

[0074] In this process, the visual sensor scans the label information, and the upper computer in the system receives the label information and assigns the robot to grasp and stack according to the upper stack positions, upper stack types, upper lengths, and upper diameters in the stacking area;

[0075] For example, the robot grabs and stacks the corresponding cloth and stacks it on the stack. Then the cloth is stacked on the stack until the stack is full. The upper computer receives the full stack information and puts the cloth in the stack into the warehouse or box.

[0076] In some specific implementations of regional intelligent decision-making, for example, the host computer ERP sets the No. 1 robot to sort Southeast Asian cloth, such as Malaysia;

[0077] Robot No. 1 senses the label of Malaysian cloth, which contains relevant information such as the specifications of the cloth. This information is stored in the control system in the form of a database. Each region has a corresponding code. Robot parameter data: The grasping speed of Robot No. 1 is set at 1-2 meters per second. The specific speed can be adjusted according to the sorting environment and task volume. The grasping accuracy is ±5 mm, and it can accurately grasp cloth of different sizes.

[0078] The cloth enters the sorting area at a constant speed through the belt conveyor 2. The speed of the belt conveyor 2 is 0.5-1 m / s, ensuring that the robot has enough time to grab the cloth.

[0079] Further, the vision sensor of Robot No. 1 quickly reads the information and transmits it to the control system of the robot for analysis. The control system uses a preset geographical database to analyze the geographical information in the read information, determines the cloth destined for Malaysia, and grabs it.

[0080] Robot No. 1 moves at a set speed, such as 1 - 2 meters per second, and uses its own navigation system (such as visual navigation, etc.) to position and adjust the direction in real time to ensure accuracy. When the robot reaches the position where the cloth is located, the robotic arm grabs the cloth with precise grasping actions (grasping accuracy ±5 mm) according to the position and size of the cloth and places it in the stack for Malaysia.

[0081] After the placement is completed, the robot returns to the initial position and continues the sorting operation. At the same time, the system will record the sorting information of each piece of cloth, including sorting time, belonging region, etc., for data statistics and analysis, so that when the target number of grabs and placements is completed or the stack is full, the system controls and instructs the following steps such as warehousing.

[0082] A single robot can sort 4 - 5 pieces of cloth per minute for a single unit, including the time for grabbing, moving, and placing. Multiple robots can cooperate to improve the efficiency. Efficiency improvement: The sorting speed is greatly increased compared to manual sorting, and the breakage rate is reduced. Cost reduction: The labor demand is reduced, saving labor costs. Quality optimization: The missed inspection rate is reduced monthly, and the qualified product rate is increased.

[0083] The detection equipment can detect 50 - 70 meters of cloth per minute, while the fine inspection speed of an ordinary cloth inspector is 10 - 15 meters of cloth per minute. Combining repair, stain removal, and trimming of hooked and frayed threads greatly improves the efficiency of cloth detection, sorting, and stacking.

[0084] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and its components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The reason for not exhaustively describing the situations of these combinations in this specification is only to save space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An intelligent inspection and packaging robot sorting method for fabrics, characterized in that the fabric inspection equipment inspects the defect types of the fabric and outputs corresponding data labels, and the visual code scanning and diversion compares the preset fabric inspection data threshold to determine and divert qualified products, products to be reinspected, and defective products; if it is determined to be a finished product, it enters the packaging and robot sorting through the set conveyor belt, and after sorting, it is labeled and enters the warehousing system; if it is determined to be a product to be reinspected, it enters manual sorting for classification of repaired products and defective products. If it is manually determined to be a repaired product, it is reinspected by the fabric inspection equipment after repair; if it is determined to be a defective product, it enters the defective product discharge platform through the set conveyor belt.

2. The sorting method of an intelligent inspection and packaging robot for cloth according to claim 1, wherein There is a fabric defect map in the system, which is displayed on the interactive screen. With the fabric width as the X-axis and the fabric length as the Y-axis, the coordinates of each detected defect are displayed on the fabric defect map.

3. A method for sorting a cloth intelligent inspection and packaging robot according to claim 1 or 2, characterized in that, The total deduction of the defect determination preset value is as follows: Qualified products: The total deduction ≤ 10 points. The defects of this type of fabric are less and do not affect normal use and appearance, and can directly enter the subsequent packaging; Defective products: The total deduction > 20 points. The defects of this type of fabric seriously affect its use value and are scrapped; Products to be reinspected: 10 points < total deduction ≤ 20 points. There are a certain number of defects in this type of fabric, and repair or price reduction treatment is required.

4. A sorting method for a cloth intelligent inspection and packaging robot according to claim 3, characterized in that, The deduction weight of fabric defects is dynamically adjusted in the following situations: Production process feedback: If a certain defect is found to occur frequently during the production process, the deduction standard for this defect is increased to promote process improvement in the production link; Customer feedback: According to the customer's feedback on the fabric quality, the weight is adjusted in a timely manner to meet the customer's needs; Market demand changes: When the market's requirements for fabric quality increase or decrease, the defect weight deduction standard is adjusted accordingly.

5. A sorting method for a cloth intelligent inspection and packaging robot according to claim 1, characterized in that, In the packaging link of the fabric, when a film change operation is to be performed, the fabric turning equipment sends a signal for film change. The fabric turning equipment performs priority determination and handles the fabric guiding during film change, guiding the fabric to the temporary storage area of the standby channel; After the fabric packaging equipment completes the film change and sends a signal, the fabric turning equipment resumes the original conveying path and continues to supply fabric to the fabric packaging equipment.

6. A sorting method for a cloth intelligent inspection and packaging robot according to claim 1, characterized in that, In visual code scanning and diversion, by setting a synchronous belt and a lifting mechanism connected to the synchronous belt, the lifting mechanism lifts the synchronous belt, and the synchronous belt rotates driven by the rotation of the motor, and the labels attached to any direction of the fabric are detected.

7. A method for sorting a cloth intelligent inspection and packaging robot according to claim 1, characterized in that, For multi-objective task scheduling, the system allocates in the following order: Order content is given priority for processing; Order urgency is processed secondarily; According to the equipment status, idle robots give priority to receiving orders and generating task queues.

8. A method for sorting a cloth intelligent inspection and packaging robot according to claim 1, characterized in that, Including the description of the robot grasping and palletizing process: The visual sensor scans the label information, and the upper computer receives the label information. According to the upper pallet positions, upper pallet types, upper lengths, upper diameters, etc. in the palletizing area, the robot is allocated to perform grasping and palletizing; the robot grasps the corresponding fabric and stacks it on the pallet position until the pallet position is full. When the upper computer receives the full pallet information, the fabric on the pallet position is processed for warehousing or boxing.

9. A sorting method for a cloth intelligent inspection and packaging robot according to claim 8, characterized in that, The robot executes target area decision sorting, divides the entire sorting range into different areas, and the robot grabs according to the system settings and places the items into the corresponding sorting areas.

10. A method for sorting a cloth intelligent inspection and packaging robot according to claim 9, characterized in that, The control system of the robot performs rotational grasping based on its current position and the position of the sorting area in the target area. The robot moves at a set speed. When the robot reaches the position where the cloth is located, it grabs the cloth with precise grasping actions and places it in the stack position.

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