Fabric defect automatic sorting device based on machine vision and working method thereof

Abstract

The invention relates to the technical field of textile industry automation and quality detection, in particular to an automatic fabric defect sorting device based on machine vision and a working method thereof.The automatic fabric defect sorting device comprises a base plate and a feeding mechanism, the feeding mechanism, an adjusting mechanism and a guiding mechanism are installed on the base plate, and the feeding mechanism comprises symmetrically-arranged vertical frames; a rotating shaft is rotationally installed between the two vertical frames, rotating seats are installed at the two ends of the rotating shaft respectively, a plurality of supporting arms are installed on the outer sides of the rotating seats at equal angles, a translation plate is movably installed on the inner side of the end of the supporting arm on one rotating seat, and a first shaft seat is rotationally installed on the translation plate; through combination of the unique rotary double-station feeding mechanism and the automatic auxiliary roll changing mechanism, 'preassembling-switching 'circulation of new and old cloth rolls is achieved, the downtime caused by roll changing is greatly shortened, and the equipment utilization rate is increased.

Description

Technical Field

[0001] This invention relates to the field of automation and quality inspection technology in the textile industry, and in particular to an automatic fabric defect sorting device based on machine vision and its working method. Background Technology

[0002] During the textile production process, various defects such as broken warp and weft, stains, and holes often appear on the surface of the fabric, which seriously affect the quality of the product.

[0003] Traditional defect detection relies on manual visual inspection, which suffers from low efficiency, high labor intensity, susceptibility to subjective factors, and a high rate of missed detections. With the development of machine vision technology, automatic inspection equipment has emerged, but existing equipment often has the following shortcomings: 1) It can only detect defects and cannot achieve accurate online marking and positioning; 2) It requires machine shutdown when changing fabric rolls (feeding shafts), affecting continuous production; 3) The marking method is limited and cannot meet the marking needs of both sides of the fabric or different positions; 4) It lacks intelligent tension adjustment and roll changing auxiliary mechanisms, resulting in a low degree of automation. Summary of the Invention

[0004] The problem solved by this invention is to provide an automatic fabric defect sorting device and its working method based on machine vision. This device can automatically complete the replacement of fabric rolls without interrupting the production line, and use dual cameras to perform high-precision defect detection on both sides of the fabric. The defect positions are accurately marked on both sides by a dual-jet terminal system, realizing automatic identification, positioning and sorting guidance of defects, which greatly improves production efficiency and the level of automation of product quality control.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic fabric defect sorting device based on machine vision includes a base plate and a feeding mechanism. The base plate is equipped with the feeding mechanism, an adjustment mechanism, and a guiding mechanism. The feeding mechanism includes symmetrically arranged uprights. A rotating shaft is rotatably installed between two uprights, and a rotating seat is installed at each end of the rotating shaft. Several support arms are installed at equal angles on the outer side of the rotating seats. A translation plate is movably installed on the inner side of the end of one of the support arms on the rotating seat, and a first bearing is rotatably installed on the translation plate. A second bearing is rotatably installed on the inner side of the end of the support arm on the other rotating seat. Each support arm includes a feeding arm and a discharging arm, which are staggered. U-shaped frames are symmetrically installed on the feeding arms. A fixed guide roller is installed on one of the U-shaped frames, and a roller frame is movably installed on the other U-shaped frame. A movable pressure roller is installed inside the roller frame. Cameras are installed on opposite sides of the two U-shaped frames.

[0007] Preferably, a first motor is mounted on one of the uprights, and the output end of the first motor is connected to a rotating shaft;

[0008] The translation plate is connected to the telescopic end of the first pneumatic cylinder mounted on the support arm, and the second bearing is connected to the output end of the second motor mounted on the support arm.

[0009] Preferably, a second pneumatic cylinder is installed on another of the U-shaped frames, and the telescopic end of the second pneumatic cylinder is connected to the movable pressure roller.

[0010] Preferably, the adjusting mechanism includes two symmetrically arranged crossbeams, with supporting legs on the bottom side of each crossbeam. A threaded rod is rotatably installed inside each crossbeam, and a transmission box is installed at the ends of the two crossbeams. A synchronous pulley is installed at the end of each threaded rod inside the transmission box, and the two synchronous pulleys are connected by a synchronous belt. A third motor is installed on the transmission box, and the output end of the third motor is connected to the synchronous pulley.

[0011] Preferably, the threaded rod is threadedly connected to the slide frame, and the slide frame is slidably connected to the slide rail inside the crossbeam. A roller seat is slidably installed inside the slide frame, and a pulling roller and a first electric slide rail are installed between the two roller seats. A first spraying dock is slidably installed on the first electric slide rail.

[0012] Preferably, the slide frame is provided with a slide groove, the roller seat is equipped with a slide arm that passes through the slide groove, the slide frame is equipped with a first cylinder and a second cylinder, and the ends of the first cylinder and the second cylinder are connected by a pipe.

[0013] The first piston is installed inside the first cylinder, and the first piston is connected to the first piston rod, which is connected to the sliding arm.

[0014] A spring is installed inside the second cylinder and is connected to the second piston. The second piston is connected to the second piston rod and a push plate is installed on the second piston rod. A baffle is installed on the top side of the crossbeam near the feeding mechanism.

[0015] Preferably, the guiding mechanism includes a top frame, on which a third pneumatic cylinder is mounted, and a second electric slide rail is mounted on the telescopic end of the third pneumatic cylinder, and a second spray nozzle is slidably mounted on the second electric slide rail.

[0016] Preferably, a fourth pneumatic cylinder is installed on the top frame, and a lifting frame is installed on the telescopic end of the fourth pneumatic cylinder. A guide roller is installed on the lifting frame, and the bottom side of the guide roller is flush with the top side of the pulling roller.

[0017] A working method for an automated fabric defect sorting device based on machine vision, the specific operation steps of which are as follows:

[0018] Step 1: The first pneumatic cylinder moves the translation plate and the first shaft seat, installing the feeding shaft between the two feeding arms and the unloading shaft between the two unloading arms. At this time, the feeding shaft has a roll of fabric on it. The first motor drives the rotary table to rotate, rotating the feeding shaft and the unloading shaft close to the adjusting mechanism. The unloading shaft is below the crossbeam, and the feeding shaft is above the crossbeam. At this time, the third motor works, driving the threaded rod to rotate clockwise through the synchronous pulley and synchronous belt, which in turn drives the threaded sliding frame to move along the crossbeam, bringing the pulling roller closer to the feeding mechanism until the push plate contacts the baffle. At this time, the second piston rod drives the second piston to move in the second cylinder, compressing the spring and simultaneously pressurizing the air in the second cylinder. The material is fed into the first cylinder, which moves the first piston and piston rod inside the first cylinder. The first piston rod acts on the sliding arm, which moves the roller seat within the sliding frame until the pulling roller is inserted between the upper and lower shafts. At this point, the fabric on the upper shaft is connected to the lower shaft through the fixed guide roller and movable pressure roller of the U-shaped frame. The camera identifies both sides of the fabric passing through. Then, when the second motor rotates the upper shaft, the third motor drives the threaded rod to rotate counterclockwise, which causes the sliding frame and pulling roller to retract. At the same time, the spring in the second cylinder returns to its original state, which moves the second piston, drawing air from the first cylinder into the second cylinder. This causes the first piston, the first piston rod, and the sliding arm to move, and the roller seat retracts to its original position on the sliding frame.

[0019] Step 2: The third pneumatic cylinder drives the second electric slide rail and the second spray nozzle to move down close to the top side of the fabric. The fourth pneumatic cylinder drives the lifting frame and guide roller to descend, contacting and guiding the fabric. The fabric is released by the rotation of the feeding shaft and the fabric is wound up by the rotation of the unloading shaft. The fabric is identified for defects by the camera. The inner side of the fabric is marked by inkjet printing by the first spray nozzle and the outer side of the fabric is marked by inkjet printing by the second spray nozzle.

[0020] Step 3: When the fabric on the feeding shaft is almost completely released, the second pneumatic cylinder drives the roller frame to move until the movable pressure roller and the fixed guide roller cooperate to clamp the fabric. When the unloading shaft continues to wind the fabric, the pull roller moves closer to the feeding mechanism again until it is inserted between the feeding shaft and the unloading shaft. When the fabric is completely released from the feeding shaft, the tail end of the fabric is clamped between the movable pressure roller and the fixed guide roller. At this time, manual intervention is performed on the unloading shaft to achieve the final winding of the fabric. At the same time, the new feeding shaft and unloading shaft are installed on the empty support arm. The pull roller retracts again, and the turntable and support arm rotate to realize the feeding of the new feeding shaft and unloading shaft.

[0021] The beneficial effects of this invention are:

[0022] Achieving truly continuous production: By combining a unique rotary dual-station feeding mechanism with an automatic auxiliary roll changing mechanism, a "pre-loading-switching" cycle of new and old rolls is realized, which greatly reduces downtime caused by roll changing and improves equipment utilization.

[0023] Double-sided inspection and double-sided marking: The dual cameras arranged symmetrically can simultaneously inspect the front and back of the fabric without blind spots. The first and second spray nozzles can be moved independently, and can be accurately marked at any position on the front and back of the fabric, providing very clear position information for subsequent manual or automatic sorting.

[0024] Intelligent assisted roll changing and tension control: The pneumatic linkage device in the adjustment mechanism enables the pull roller to automatically extend / reset, providing support and auxiliary traction during roll changing, and avoiding obstacles during normal operation. The clever design and clamping mechanism of the movable pressure roller and the fixed guide roller can effectively prevent the fabric from loosening at the end of the roll changing, ensuring a smooth process.

[0025] High degree of automation and intelligence: It integrates functions such as automatic rotary feeding, visual inspection, automatic inkjet printing, and automatic guidance, which greatly reduces manual intervention and improves the overall efficiency and accuracy of defect sorting operations. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the feeding mechanism of the present invention;

[0028] Figure 3 This is a schematic diagram of the first structure of the adjustment mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the second structure of the adjustment mechanism of the present invention;

[0030] Figure 5 This is a cross-sectional view of the first cylinder and the second cylinder of the present invention;

[0031] Figure 6 This is an overall sectional view of the present invention.

[0032] Legend:

[0033] 1. Substrate; 2. Feeding mechanism; 3. Stand; 4. Rotary seat; 5. First motor; 6. Support arm; 7. First pneumatic cylinder; 8. Translation plate; 9. First bearing seat; 10. Second motor; 11. Second bearing seat; 12. U-shaped frame; 13. Camera; 14. Fixed guide roller; 15. Second pneumatic cylinder; 16. Roller frame; 17. Movable pressure roller; 18. Support leg; 19. Crossbeam; 20. Threaded rod; 21. Transmission box; 22. Third motor; 23. Sliding frame; 24. 25. Roller seat; 26. Pulling roller; 27. First electric slide rail; 28. First spraying dock; 29. ​​Sliding arm; 20. First cylinder; 31. Second cylinder; 32. First piston rod; 33. Spring; 34. Second piston; 35. Second piston rod; 36. Push plate; 37. Baffle; 38. Top frame; 39. Third pneumatic cylinder; 40. Second electric slide rail; 41. Second spraying dock; 42. Fourth pneumatic cylinder; 43. Lifting frame; 44. Guide roller. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Specific implementation examples are given below.

[0036] See Figures 1-6An automatic fabric defect sorting device based on machine vision includes a base plate 1 and a feeding mechanism 2. The base plate 1 is equipped with the feeding mechanism 2, an adjustment mechanism, and a guiding mechanism. The feeding mechanism 2 includes symmetrically arranged uprights 3. A rotating shaft is rotatably mounted between two uprights 3, and a rotating seat 4 is mounted at each end of the rotating shaft. Several support arms 6 are mounted at equal angles on the outer side of the rotating seat 4. A translation plate 8 is movably mounted on the inner side of the end of one of the support arms 6 on the rotating seat 4, and a first shaft seat 9 is rotatably mounted on the translation plate 8. A second shaft seat 9 is rotatably mounted on the inner side of the end of the support arm 6 on the other rotating seat 4. The support arm 6 includes a loading arm and a unloading arm, which are staggered. U-shaped frames 12 are symmetrically mounted on the loading arm. One U-shaped frame 12 has a fixed guide roller 14 mounted on it, and a roller frame 16 is movably mounted on the other U-shaped frame 12. A movable pressure roller 17 is installed inside the roller frame 16. Cameras 13 are mounted on opposite sides of the two U-shaped frames 12. A first motor 5 is mounted on one of the uprights 3, and the output end of the first motor 5 is connected to a rotating shaft. A translation plate 8 is connected to the telescopic end of a first pneumatic cylinder 7 mounted on the support arm 6. A second bearing 11 is connected to the support arm 6... The output end of the second motor 10 on arm 6 is connected to another U-shaped frame 12, on which a second pneumatic cylinder 15 is installed. The telescopic end of the second pneumatic cylinder 15 is connected to the movable pressure roller 17. The first motor 5 drives the rotary seat 4 and the cross-shaped support arm 6 to rotate. This mechanism can carry two sets of rolls at the same time. When the fabric on one set of rolls is used up, it can quickly rotate 180 degrees to switch to the reserve set, realizing continuous production with almost zero downtime and greatly improving equipment utilization. The movable pressure roller 17, driven by the second pneumatic cylinder 15, cooperates with the fixed guide roller 14 to accurately clamp the fabric break at the end of the roll change. The head prevents the fabric from loosening or springing back, ensuring a smooth and controllable roll-changing process and creating conditions for manual or automatic splicing. Cameras 13 are symmetrically installed on the U-shaped frame 12 of each feeding arm, enabling synchronous and real-time imaging of both sides of the running fabric. This achieves defect detection without blind spots, improving the comprehensiveness and accuracy of the detection. The first pneumatic cylinder 7 drives the translation plate 8 to move the first shaft seat 9, facilitating the quick installation and locking of the roll. The second motor 10 drives the second shaft seat 11 as the main force for winding, realizing convenient clamping of the feeding shaft and active and controllable winding of the unloading shaft.

[0037] The adjustment mechanism includes two symmetrically arranged crossbeams 19, with support legs 18 on the bottom side of each crossbeam 19. A threaded rod 20 is rotatably mounted inside each crossbeam 19. A transmission box 21 is mounted at the end of each crossbeam 19. A synchronous pulley is mounted inside the transmission box 21 at the end of the threaded rod 20, and the two synchronous pulleys are connected by a synchronous belt. A third motor 22 is mounted on the transmission box 21, and the output end of the third motor 22 is connected to the synchronous pulley. The threaded rod 20 is threadedly connected to a sliding frame 23, and the sliding frame 23 is connected to the crossbeams. The inner side of the slide rail is slidably connected. A roller seat 24 is slidably installed inside the slide frame 23. A pulling roller 25 and a first electric slide rail 26 are installed between the two roller seats 24. A first spraying arm 27 is slidably installed on the first electric slide rail 26. A slide groove is opened on the slide frame 23. A slide arm 28 that passes through the slide groove is installed on the roller seat 24. A first cylinder 29 and a second cylinder 30 are installed on the slide frame 23. The ends of the first cylinder 29 and the second cylinder 30 are connected by a pipe. A first cylinder 29 is installed inside the first cylinder 29. The piston 31 is connected to the first piston rod 32, which is connected to the slide arm 28. A spring 33 is installed in the second cylinder 30 and is connected to the second piston 34. The second piston 34 is connected to the second piston rod 35, and a push plate 36 is installed on the second piston rod 35. A baffle 37 is installed on the top side of the crossbeam 19 near the feeding mechanism 2. When the slide frame 23 moves forward under the drive of the third motor 22, the push plate 36 on it touches the baffle 37, which compresses the spring 33 and, through cylinder linkage, pushes the roller seat 24 to make the pulling roller 25 automatically extend and insert between the new and old rolls. This provides physical support and guidance for changing rolls and feeding materials. After changing rolls, it can automatically reset. This design provides assistance during changing rolls and avoids obstacles during normal operation. It has a high degree of intelligence. The first inkjet dock 27 is installed on the first electric slide rail 26. It can accurately locate the defect coordinates provided by the vision system in the fabric width direction and mark the defects on the bottom surface of the fabric with inkjet marking.

[0038] The guiding mechanism includes a top frame 38, on which a third pneumatic cylinder 39 is mounted. A second electric slide rail 40 is mounted on the telescopic end of the third pneumatic cylinder 39. A second spray nozzle 41 is slidably mounted on the second electric slide rail 40. A fourth pneumatic cylinder 42 is mounted on the top frame 38. A lifting frame 43 is mounted on the telescopic end of the fourth pneumatic cylinder 42, and a guide roller 44 is mounted on the lifting frame 43. The bottom side of the guide roller 44 is flush with the top side of the pulling roller 25. The second spray nozzle 41 is mounted on the liftable second electric slide rail 40 and can be used to spray defects on the top surface of the fabric. For precise positioning and coding, the third pneumatic cylinder 39 controls its lifting and lowering to avoid interference with non-working areas. The fourth pneumatic cylinder 42 drives the guide roller 44 to descend, forming a pair of guide rollers with the lower pulling roller 25 to tension and stably guide the fabric in operation, ensuring that the fabric passes smoothly through the detection and marking area, reducing vibration, and improving detection and marking accuracy. The guiding mechanism, together with the detection points of the feeding mechanism 2 and the marking points of the adjustment mechanism, together form a complete closed-loop processing system for "double-sided detection and double-sided marking" of the fabric.

[0039] Working principle:

[0040] The translation plate 8 and the first shaft seat 9 are translated by the operation of the first pneumatic cylinder 7, which installs the feeding shaft between the two feeding arms and the unloading shaft between the two unloading arms. At this time, the feeding shaft is loaded with rolled fabric. The first motor 5 drives the rotary seat 4 to rotate, rotating the feeding shaft and the unloading shaft close to the adjusting mechanism. The unloading shaft is located below the crossbeam 19, and the feeding shaft is located above the crossbeam 19. At this time, the third motor 22 works, driving the threaded rod 20 to rotate clockwise through the synchronous pulley and synchronous belt, which in turn drives the threaded sliding frame 23 to move along the crossbeam 19, bringing the pulling roller 25 closer to the feeding mechanism 2 until the push plate 36 contacts the baffle 37. At this time, the second piston rod 35 drives the second piston 34 to move in the second cylinder 30, compressing the spring 33 and simultaneously forcing the air in the second cylinder 30 into the first cylinder 29, driving the first The first piston 31 and the first piston rod 32 in the cylinder 29 move. The first piston rod 32 acts on the sliding arm 28, driving the roller seat 24 to move in the sliding frame 23 until the pulling roller 25 is inserted between the upper and lower shafts. At this time, the fabric on the upper shaft is connected to the lower shaft through the fixed guide roller 14 and the movable pressure roller 17 of the U-shaped frame 12. The camera 13 identifies both sides of the passing fabric. Then, when the second motor 10 rotates the upper shaft, the third motor 22 drives the threaded rod 20 to rotate counterclockwise, realizing the retraction of the sliding frame 23 and the pulling roller 25. At the same time, the spring 33 in the second cylinder 30 returns to its original state, driving the second piston 34 to move, drawing air from the first cylinder 29 into the second cylinder 30, realizing the movement of the first piston 31, the first piston rod 32 and the sliding arm 28, and retracting the roller seat 24 on the sliding frame 23 to its original position.

[0041] The third pneumatic cylinder 39 drives the second electric slide rail 40 and the second spray dock 41 to move down close to the top side of the fabric. The fourth pneumatic cylinder 42 drives the lifting frame 43 and the guide roller 44 to descend, contacting and guiding the fabric. The fabric is released by rotating the upper shaft and the fabric is wound up by rotating the lower shaft. The fabric is identified for defects by the camera 13. The inner side of the fabric is marked by spraying code through the first spray dock 27 and the outer side of the fabric is marked by spraying code through the second spray dock 41.

[0042] When the fabric on the feeding shaft is almost completely released, the second pneumatic cylinder 15 drives the roller frame 16 to move until the movable pressure roller 17 and the fixed guide roller 14 cooperate to clamp the fabric. When the unloading shaft continues to wind the fabric, the pull roller 25 moves closer to the feeding mechanism 2 again until it is inserted between the feeding shaft and the unloading shaft. When the fabric is completely released from the feeding shaft, the tail end of the fabric is clamped between the movable pressure roller 17 and the fixed guide roller 14. At this time, manual intervention is performed on the unloading shaft to achieve the final winding of the fabric. At the same time, the new feeding shaft and unloading shaft are installed on the empty support arm 6. The pull roller 25 retracts again, and the turntable 4 and the support arm 6 rotate to realize the feeding of the new feeding shaft and unloading shaft.

[0043] Camera 13 performs the following visual processing steps:

[0044] Step 1: Image Preprocessing

[0045] Filtering and noise reduction: Use Gaussian filtering, median filtering, etc. to eliminate the effects of camera noise and fine feathering;

[0046] Illumination uniformity: Corrects the brightness difference between the center and edge of the image caused by the lighting system;

[0047] Contrast Enhancement: Stretches the grayscale range of the image, making the contrast between blemishes and the background more obvious;

[0048] Image standardization: unifying the image size and orientation to facilitate subsequent algorithm processing.

[0049] Step 2: Defect Detection

[0050] Traditional algorithm methods:

[0051] Frequency domain analysis: Performing a Fourier transform (FFT) on the image reveals that regular fabric textures appear as concentrated bright spots in the frequency domain, while defects disrupt this regularity and appear elsewhere. Defects can be extracted through filtering.

[0052] Texture analysis: Using Gabor filter banks (simulating human vision), texture features are extracted at different directions and scales and compared with flawless templates. The difference areas are the flaws.

[0053] Background modeling: Collect an image of a piece of "good fabric" as the background model, and perform a difference analysis between the real-time image and the background model. Areas with significant differences are identified as defects.

[0054] Deep learning methods:

[0055] Object detection network: Directly outputs the bounding box and category confidence of defects, is fast, and can simultaneously locate and perform preliminary classification;

[0056] Semantic segmentation network: Outputs a pixel-level mask that accurately outlines the contour and shape of blemishes. It has high precision and can handle blemishes with complex shapes.

[0057] Step 3: Feature Extraction and Classification

[0058] Feature extraction:

[0059] Traditional features: Calculate geometric features (area, perimeter, circularity), grayscale features (mean, variance), and texture features (LBP, Haralick features) from the segmented regions;

[0060] Deep learning features: In CNN networks, this step is done automatically, and the abstract features extracted from the deep layers of the network are far more powerful and discriminative than hand-designed features;

[0061] Classifier decision: Traditional process: Input the extracted feature vector into a trained classifier (such as Support Vector Machine, Random Forest) for classification;

[0062] Deep learning end-to-end process: Detection networks (such as YOLO) or dedicated suffix classification networks directly output category labels (such as "broken veins", "oil stains", "holes").

[0063] Step 4: Tiered decision

[0064] Decision input:

[0065] Defect attributes: type, size (actual physical length / area), contrast, location (seam, center);

[0066] Customer / Product Standards: Order quality requirements from the MES / ERP system, for example, the treatment decisions for a hole of the same size on military fabric and ordinary rag are completely different.

[0067] Decision-making logic:

[0068] IF Defect Type: "Hole" AND Diameter > 2cm THEN Decision = Grade A (Severe) → Perform full roll sorting / online cutting;

[0069] IF Defect Type: "Weft Broken" AND Length between 5cm and 20cm THEN Decision = Grade B (Repairable) → Perform inkjet marking;

[0070] If the defect type is "minor color spot" and the diameter is <0.5mm, then the decision is C (acceptable) → only record, no action is taken;

[0071] Decision output: Send the final action instructions (including action type, precise coordinates of the defect, and associated roll ID) to the PLC or actuator controller.

[0072] Step 5: Data Recording and Feedback Optimization

[0073] Full record: all defective images, features, classification results, decision actions, timestamps, and roll numbers are stored in the database to form traceable quality big data;

[0074] Model optimization: The deep learning model is retrained regularly with new, manually reviewed data (especially cases of misjudgment and omission) to enable it to continuously adapt to new fabric varieties and defect variations, thus achieving self-evolution;

[0075] Process feedback: By analyzing big data, the spatiotemporal distribution patterns of various defects can be statistically analyzed, providing early warnings to the production department and controlling quality from the source.

[0076] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A machine vision based automatic fabric defect sorting apparatus, characterized in that, The system includes a base plate (1) and a feeding mechanism (2). The base plate (1) is equipped with the feeding mechanism (2), an adjustment mechanism, and a guiding mechanism. The feeding mechanism (2) includes symmetrically arranged uprights (3). A rotating shaft is rotatably installed between the two uprights (3), and a rotating seat (4) is installed at each end of the rotating shaft. Several support arms (6) are installed at equal angles on the outer side of the rotating seat (4). A translation plate (8) is movably installed on the inner side of the end of one of the support arms (6) on the rotating seat (4), and a first bearing seat (9) is rotatably installed on the translation plate (8). A second bearing seat (11) is rotatably mounted on the inner side of the end of the support arm (6) on another rotating seat (4). The support arm (6) includes a loading arm and a unloading arm, which are staggered. A U-shaped frame (12) is symmetrically mounted on the loading arm. A fixed guide roller (14) is mounted on one of the U-shaped frames (12), and a roller frame (16) is movably mounted on the other U-shaped frame (12). A movable pressure roller (17) is installed inside the roller frame (16). A camera (13) is mounted on the opposite side of the two U-shaped frames (12).

2. The machine vision based fabric defect auto-sorting device according to claim 1, wherein, One of the support frames (3) is equipped with a first motor (5), the output end of which is connected to a rotating shaft; The translation plate (8) is connected to the telescopic end of the first pneumatic cylinder (7) mounted on the support arm (6), and the second shaft seat (11) is connected to the output end of the second motor (10) mounted on the support arm (6).

3. The machine vision based fabric defect auto-sorting device according to claim 2, wherein, Another U-shaped frame (12) is equipped with a second pneumatic cylinder (15), the telescopic end of which is connected to the movable pressure roller (17).

4. The machine vision based fabric defect auto-sorting device according to claim 3, wherein, The adjustment mechanism includes two symmetrically arranged crossbeams (19), with support legs (18) on the bottom side of each crossbeam (19). A threaded rod (20) is rotatably installed inside each crossbeam (19). A transmission box (21) is installed at the ends of the two crossbeams (19). A synchronous pulley is installed at the end of the threaded rod (20) inside the transmission box (21), and the two synchronous pulleys are connected by a synchronous belt. A third motor (22) is installed on the transmission box (21), and the output end of the third motor (22) is connected to the synchronous pulley.

5. A machine vision based fabric defect auto-sorting device according to claim 4, wherein, The threaded rod (20) is threadedly connected to the slide frame (23), and the slide frame (23) is slidably connected to the slide rail inside the crossbeam (19). A roller seat (24) is slidably installed inside the slide frame (23). A pulling roller (25) and a first electric slide rail (26) are installed between the two roller seats (24). A first spraying dock (27) is slidably installed on the first electric slide rail (26).

6. A machine vision based fabric defect auto-sorting device according to claim 5, wherein, The slide frame (23) is provided with a slide groove, the roller seat (24) is provided with a slide arm (28) that passes through the slide groove, the slide frame (23) is provided with a first cylinder (29) and a second cylinder (30), and the ends of the first cylinder (29) and the second cylinder (30) are connected by a pipe. The first piston (31) is installed in the first cylinder (29), and the first piston (31) is connected to the first piston rod (32), and the first piston rod (32) is connected to the sliding arm (28); A spring (33) is installed inside the second cylinder (30), and the spring (33) is connected to the second piston (34). The second piston (34) is connected to the second piston rod (35), and a push plate (36) is installed on the second piston rod (35). A baffle (37) is installed on the top side of the crossbeam (19) near the feeding mechanism (2).

7. A machine vision based fabric defect auto-sorting apparatus as claimed in claim 6, wherein, The guiding mechanism includes a top frame (38), on which a third pneumatic cylinder (39) is mounted. A second electric slide rail (40) is mounted on the telescopic end of the third pneumatic cylinder (39), and a second spray dock (41) is slidably mounted on the second electric slide rail (40).

8. The automatic fabric defect sorting device based on machine vision according to claim 7, characterized in that, A fourth pneumatic cylinder (42) is installed on the top frame (38). A lifting frame (43) is installed on the telescopic end of the fourth pneumatic cylinder (42), and a guide roller (44) is installed on the lifting frame (43). The bottom side of the guide roller (44) is flush with the top side of the pulling roller (25).

9. The working method of the automatic fabric defect sorting device based on machine vision according to claim 8, characterized in that, The specific operational steps of this working method are as follows: Step 1: The translation plate (8) and the first shaft seat (9) are translated by the operation of the first pneumatic cylinder (7). The feeding shaft is installed between the two feeding arms, and the unloading shaft is installed between the two unloading arms. At this time, the feeding shaft is equipped with a roll of fabric. The first motor (5) drives the rotary seat (4) to rotate, and rotates the feeding shaft and the unloading shaft to be close to the adjustment mechanism. The unloading shaft is located below the crossbeam (19), and the feeding shaft is located above the crossbeam (19). At this time, the third motor (22) works, through synchronization The pulley and synchronous belt drive drive the threaded rod (20) to rotate clockwise, which in turn drives the threaded sliding frame (23) to move along the crossbeam (19), bringing the pulling roller (25) closer to the feeding mechanism (2) until the push plate (36) contacts the baffle (37). At this time, the second piston rod (35) drives the second piston (34) to move in the second cylinder (30), compressing the spring (33) and simultaneously forcing the air in the second cylinder (30) into the first cylinder (29), driving the first cylinder (29) to rotate. 9) The first piston (31) and the first piston rod (32) move, the first piston rod (32) acts on the sliding arm (28), driving the roller seat (24) to move in the sliding frame (23) until the pulling roller (25) is inserted between the upper and lower shafts. At this time, the fabric on the upper shaft is connected to the lower shaft through the fixed guide roller (14) and the movable pressure roller (17) of the U-shaped frame (12). The camera (13) identifies the two sides of the passing fabric, and then the second motor (10) When the feeding shaft rotates, the third motor (22) drives the threaded rod (20) to rotate counterclockwise, thereby retracting the slide frame (23) and the pulling roller (25). At the same time, the spring (33) in the second cylinder (30) returns to its original state, driving the second piston (34) to move, drawing air from the first cylinder (29) into the second cylinder (30), thereby moving the first piston (31), the first piston rod (32), and the sliding arm (28), and retracting the roller seat (24) on the slide frame (23) back to its original position. Step 2: The third pneumatic cylinder (39) drives the second electric slide rail (40) and the second spray dock (41) to move down close to the top side of the fabric. The fourth pneumatic cylinder (42) drives the lifting frame (43) and the guide roller (44) to descend, contacting and guiding the fabric. The fabric is released by rotating the upper shaft and the fabric is wound up by rotating the lower shaft. The fabric is identified by the camera (13) for defects. The inner side of the fabric is marked by spraying code through the first spray dock (27) and the outer side of the fabric is marked by spraying code through the second spray dock (41). Step 3: When the fabric on the feeding shaft is almost completely released, the second pneumatic cylinder (15) drives the roller frame (16) to move until the movable pressure roller (17) and the fixed guide roller (14) cooperate to clamp the fabric. When the unloading shaft continues to roll the fabric, the pull roller (25) moves closer to the feeding mechanism (2) again until it is inserted between the feeding shaft and the unloading shaft. When the fabric is completely released from the feeding shaft, the tail end of the fabric is clamped between the movable pressure roller (17) and the fixed guide roller (14). At this time, manual intervention is performed on the unloading shaft to achieve the final winding of the fabric. At the same time, the new feeding shaft and unloading shaft are installed on the empty support arm (6). The pull roller (25) retracts again, and the turntable (4) and the support arm (6) rotate to achieve the feeding of the new feeding shaft and unloading shaft.

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