Sheet material processing method and processing system

Abstract

To provide a sheet material processing method to execute a prior operation for smoothing a detecting operation or a holding operation of a relatively large sheet material such as a sheet, and also to provide a processing system.SOLUTION: A processing method processes a sheet material Z having an edge part element ZF indicating circumference. The processing method has a form change step to change the form of the sheet material Z using a holding part 1. The form change step includes an extension step to increase the degree of exposure of the edge part element ZF by extending the sheet material Z.SELECTED DRAWING: Figure 19

Description

Technical Field

[0001] The present invention relates to a method and a processing system for a sheet material for grasping its form and the like in a pre-stage of automatically folding a sheet material such as a sheet.

Background Art

[0002] A sheet material such as a sheet usually has a size larger than that of a human body in a single sheet, and appropriate techniques and labor are required to fold it neatly. In addition, in facilities such as hotels, since there is an operation of folding a large number of sheets at once, it is usually the case that a dedicated device for automatic folding is used.

[0003] As a technique related to such automatic folding of a sheet material, an invention related to a method for efficiently detecting laundry described in Patent Document 1 is known.

[0004] The invention described in Patent Document 1 determines the topography of the laundry, determines one point of the laundry to be detected by a detection means based on this topography, and the detection means is controlled to move to that point, and when the laundry is detected by the detection means, it is a method of surely grasping only that laundry.

[0005] Normally, the laundry is in a state of being rolled up in an arbitrary form after washing. According to the invention described in Patent Document 1, one point of the laundry to be detected and grasped can be specified based on the topography. Thereby, the desired laundry can be smoothly taken out from among a plurality of laundries without misidentifying the object to be grasped and the location to be grasped.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] By the way, in the linen supply industry, before entering processes such as feeding, folding, and sorting laundry into dedicated devices, it is necessary to detect and grasp the sheet material that has been randomly stacked as described above, and to adjust the form of the sheet material to a certain extent.

[0008] By the way, the invention described in Patent Document 1 mainly targets clothes, but when a sheet material of a relatively large size such as a sheet is used as the target object, the form when rolled up becomes more complicated. For this reason, there is a high possibility that the exposure of the points to be grasped by a robot arm or the like becomes insufficient. And when such a situation occurs, it is feared that an appropriate object cannot be detected and grasped, inconvenience occurs in the subsequent processes until it is sent to a dedicated device, and the labor of managers and the like increases, such as having to involve a lot of manual labor.

[0009] The present invention has been made in view of the above actual situation, and an object thereof is to provide a method and a processing system for a sheet material that perform a preliminary operation for smoothing the detection operation and the grasping operation of a relatively large sheet material such as a sheet.

Means for Solving the Problems

[0010] The present invention for solving the above problems is a processing method for processing a sheet material having an edge element indicating a periphery, having a form change step of changing the form of the sheet material using a gripping portion, the form change step includes a stretching step of increasing the degree of exposure of the edge element by stretching the sheet material.

[0011] According to the present invention, by increasing the degree of exposure of the edge element, which is the area to be detected and gripped when shaping the sheet material, during the stretching process, the detection operation and gripping operation of the sheet material can be made smooth.

[0012] In a preferred form of the present invention, the stretching process includes a gripping process of gripping the sheet material by the gripping portion, and a conveying process of conveying at least a part of the periphery of the sheet material by a conveying portion configured to be movable along a moving path extending in the horizontal direction.

[0013] With such a configuration, the sheet material can be smoothly stretched in the horizontal direction, and the processing efficiency is improved.

[0014] In a preferred form of the present invention, the gripping portion is configured to be movable along the moving path.

[0015] With such a configuration, according to the form of the sheet material, the way of stretching it can be flexibly changed.

[0016] In a preferred form of the present invention, the form change process includes a detection process of detecting the edge element exposed to the outside by an imaging unit. The gripping process lifts the gripped sheet material upward. The detection process detects the edge element for the area imaged from the upstream side of the moving path and the area imaged from the downstream side. The conveying process changes the relative speed between the moving speed of the gripping portion along the moving path and the moving speed of the conveying portion along the moving path based on the difference in the degree of exposure of each edge element for each area.

[0017] With such a configuration, according to the form of the sheet material, the sheet material can be appropriately stretched so that the degree of exposure of the edge element further increases.

[0018] In a preferred form of the present invention, the conveying portion is a conveyor. In the conveying step, the relative speed is changed so that a region with a large degree of exposure of the edge element is disposed to be exposed outward.

[0019] With such a configuration, an appropriate stretching operation of the sheet material that increases the degree of exposure of the edge element can be performed with the sheet material placed on the conveyor, and the control of the conveying unit becomes simpler.

[0020] In a preferred embodiment of the present invention, the imaging unit includes a first imaging unit whose imaging direction is from the upstream to the downstream of the moving path, and a second imaging unit disposed on the downstream side of the first imaging unit and whose imaging direction is from the downstream to the upstream of the moving path.

[0021] With such a configuration, the detection of the edge elements of each region in the detection step can be performed more reliably.

[0022] In a preferred embodiment of the present invention, the edge element is at least one of a colored thread, an embroidery pattern, a pattern, the number of threads, a pile, a hem, and an ear provided on the sheet material.

[0023] With such a configuration, the detection of the edge elements of each region in the detection step can be performed more reliably.

[0024] In a preferred embodiment of the present invention, the stretching step includes a gripping step of gripping the sheet material by the gripping portion, and a lowering step of gripping the sheet material by the gripping portion, lifting it upward, and lowering it downward.

[0025] With such a configuration, the sheet material can be stretched in a space-saving manner.

[0026] In a preferred embodiment of the present invention, in the lowering step, the sheet material is dropped downward by the gripping portion.

[0027] By adopting such a configuration, it is possible to utilize the air resistance received by the sheet material to stretch the sheet material more efficiently.

[0028] In a preferred embodiment of the present invention, the stretching step includes a conveying step of conveying at least a part of the periphery of the sheet material by a conveying unit configured to be movable along a moving path extending in the horizontal direction.

[0029] By adopting such a configuration, it is possible to smoothly stretch the sheet material in the horizontal direction while maintaining space savings.

[0030] In a preferred embodiment of the present invention, the conveying unit is a conveyor disposed below the gripping unit, and includes a first conveyor and a second conveyor disposed below the first conveyor. In the lowering step, the sheet material conveyed by the first conveyor is dropped onto the second conveyor.

[0031] By adopting such a configuration, it is possible to ensure a certain dropping distance while maintaining space savings, and more preferably stretch the sheet material.

[0032] Further, the present invention is a processing system for processing a sheet material having predetermined characteristic portions provided along the periphery, comprising a gripping unit for gripping the sheet material and a conveying unit for conveying at least a part of the periphery of the sheet material. The conveying unit stretches the sheet material by moving along a moving path extending in the horizontal direction.

[0033] Further, the present invention is a processing system for processing a sheet material having predetermined characteristic portions provided along the periphery, comprising a gripping unit for gripping the sheet material. The gripping unit stretches the sheet material by gripping the sheet material, lifting it upward, and dropping it downward.

Advantages of the Invention

[0034] According to the present invention, it is possible to provide a method for processing a sheet material and a processing system that perform a preliminary operation for smoothing the detection operation and the gripping operation of a relatively large sheet material such as a sheet.

Brief Description of the Drawings

[0035]

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Embodiments for Carrying Out the Invention

[0036] Hereinafter, with reference to the drawings, a processing system and a processing method according to each embodiment of the present invention will be described. The processing system according to each embodiment of the present invention is a system and method for processing a sheet material provided with a predetermined edge element along its periphery.

[0037] Note that the sheet material Z in each embodiment is a sheet having a size equal to or larger than the body, such as used for a bed or the like, but may also be a bath towel provided with a pile, a hem, or ears. In addition, for the sheet material Z, as an edge element ZF indicating its periphery, it is assumed that colored yarns are sewn along the periphery. The edge element ZF is indicated by a gray broken line in each figure.

[0038] <Embodiment 1> Hereinafter, the processing system according to Embodiment 1 will be described with reference to FIGS. 1 to 19. For convenience of explanation hereinafter, the x-axis direction shown in FIG. 1 will be referred to as the front-rear direction (or downstream side, upstream side), the y-axis direction as the left-right direction, and the z-axis direction as the up-down direction.

[0039] <<Processing System>> Hereinafter, the configuration of the processing system X will be described with reference to FIGS. 1 and 2. Note that FIGS. 1(a) and 2(a) show front views of the processing system X, FIGS. 1(b) and 2(b) show plan views of the processing system X, respectively, and in FIGS. 3 to 18, (a) shows a front view and (b) shows a plan view, respectively. Also, FIG. 1 shows the upstream side of the processing system X, and FIG. 2 shows the downstream side of the processing system X.

[0040] As shown in FIG. 1, the processing system X includes a gripping part 1 that grips the sheet material Z, a conveying part 2 that conveys at least a part of the periphery of the sheet material Z, and an imaging part 3 that detects the edge element ZF exposed to the outside. The processing system X also includes a first manipulator M1 that delivers the sheet material Z to the gripping part 1, a second manipulator M2 that grips the sheet material Z together with the gripping part 1, and an expanding means E that expands the periphery of the sheet material Z. Furthermore, the processing system X includes a moving means T that moves the gripping part 1 in the front-rear direction, and a sub-conveying part C that conveys the sheet material Z below the first manipulator M1.

[0041] Note that the gripping part 1, the conveying part 2, the imaging part 3, the first manipulator M1, the second manipulator M2, the expanding means E, the moving means T, and the sub-conveying part C are interlocked and controlled by a control system including one or more control parts (not shown), and cooperate to execute a processing method. The control part includes, for example, a PLC or a software controller executed by a computer, and is configured to be communicable with the gripping part 1, the conveying part 2, the imaging part 3, the first manipulator M1, the second manipulator M2, the expanding means E, the moving means T, and the sub-conveying part C.

[0042] The gripping part 1 is a robot arm that generally extends in the left - right direction. Its tip is configured as an end - effector, and its proximal end side is attached to the moving means T. Also, a plurality of gripping parts 1 are attached to the moving means T at intervals along the moving trajectory by the moving means T.

[0043] The conveying part 2 is a conveyor configured to be able to convey the sheet material Z along a moving path extending in the horizontal direction (in the x - axis direction in this embodiment). Also, the conveying part 2 has a first conveyor 21 arranged on the upstream side and a second conveyor 22 arranged on the downstream side. Note that the conveying part 2 is arranged below each gripping part 1, but it may be arranged adjacent to each gripping part 1 in the stretching process or the like, and may also be arranged above each gripping part 1 as an initial position.

[0044] The first conveyor 21 and the second conveyor 22 are each a so - called electric belt conveyor, and are generally composed of a pulley c1, a belt c2 wound around it, support legs c3 that support them at a predetermined height, and a belt receiver c4, except that their lengths in the front - rear direction are different.

[0045] The imaging part 3 has a first imaging part 31 whose imaging direction is from the upstream to the downstream of the moving path, and a second imaging part 32 arranged on the downstream side of the first imaging part 31 whose imaging direction is from the downstream to the upstream of the moving path.

[0046] The first imaging part 31 and the second imaging part 32 each include an imaging part main body k1 and a support column k2 that supports the imaging part main body k1 upward. Each imaging part main body k1 is supported by each support column k2 so as to be able to image the space between each first conveyor 21 and the sub - conveying part C.

[0047] The first manipulator M1 and the second manipulator M2 are provided with, for example, an imaging unit (not shown) for image recognition at their tips. After recognizing the gripping position of the conveyed sheet material Z, the sheet material Z is gripped by the end effector at the tip. Note that the imaging units corresponding to the respective manipulators M1 and M2 may be provided separately from the respective manipulators M1 and M2, like the imaging unit 3.

[0048] The extending means E includes a pair of extending means main bodies E1, a pair of front-rear rails E2 that slidably support each extending means main body E1 in the front-rear direction, a left-right rail E3 that slidably supports each front-rear rail E2 in the left-right direction, and a pair of substantially L-shaped support legs E4 that support the left-right rail E3.

[0049] Each extending means main body E1 is a robot arm that is generally configured in a substantially L shape when viewed from the front. Its tip is configured as an end effector, and its base end side is attached to the front-rear rail E2.

[0050] The moving means T includes a moving means main body T1 that extends in the front-rear direction and a support column T2 that supports each moving means main body T1 above the conveying unit 2.

[0051] The moving means main body T1 is a rail that slidably supports the gripping portion 1 along its outer periphery. Also, a pair of moving means main bodies T1 are provided adjacent to each other in the left-right direction, so that the gripping portion 1 extending in the left-right direction can be slid stably. Furthermore, the moving path by the moving means main body T1 is a closed path when viewed from the front, and the gripping portion 1 moves in the front-rear direction above the conveying unit 2 by circulating this path counterclockwise when viewed from the front.

[0052] A plurality of support columns T2 are provided at intervals in the front-rear direction, and each is provided so as to straddle from the outside (right side) of the moving means main body T1 to the left side of the conveying unit 2.

[0053] The sub-conveying unit C is configured as a so-called electric belt conveyor, similar to the first conveyor 21 and the second conveyor 22.

[0054] In addition, the end effectors in each gripping unit 1, each manipulator M1, M2, and the extending means E perform an adsorption operation of attracting the sheet material Z in addition to the gripping operation.

[0055] <<Processing Method>> Hereinafter, with reference to FIGS. 3 to 19, a processing method using the above-described processing system X will be described. In the following, a processing method using one gripping unit 1 will be described. Actually, each gripping unit 1 circulates along the movement path by the moving means main body T1 at a preset timing. As a result, a plurality of sheet materials Z are continuously processed at short time intervals, including the operations of other configurations. In addition, in FIGS. 3 to 18, the illustration of each support column T2 is omitted.

[0056] Here, when determining the gripping positions by the imaging unit 3, the first manipulator M1, and the second manipulator M2, the control system extracts feature amounts by convolving the imaging data of the sheet material Z acquired by the imaging unit 3, etc., and detects the edge element ZF. In the present embodiment, the control system detects the edge element ZF by segmenting a predetermined region from the imaging data. The feature amount is an index based on numerical data representing a state in which the sheet material Z is imaged by the imaging unit 3, the first manipulator M1, and the second manipulator M2, and the edge element ZF appears in the captured image.

[0057] <<<Receiving Step>>> In the receiving step, as shown in FIG. 3, the sheet material Z randomly rolled is conveyed by the sub-conveying unit C to a position adjacent to the first manipulator M1. At this time, the gripping unit 1 is made to standby by the moving means T so as to be positioned between the first imaging unit 31 and the second imaging unit 32 in a front view.

[0058] Next, as shown in FIG. 4, the first manipulator M1 recognizes the edge element ZF and grips a part of the periphery of the sheet material Z. At this time, the first manipulator M1 color-images a predetermined area of the sheet material Z, for example, from the plan view direction (FIG. 4(b)) or the like, and acquires image data. Then, the control system extracts feature amounts based on the acquired image data, detects the edge elements of the sheet material Z, determines the coordinates of the movement destination (gripping position) of the end effector, and the end effector moves to the periphery of the sheet material Z and grips the portion.

[0059] Thereby, the first manipulator M1 receives the sheet material Z conveyed by the sub-conveyor C.

[0060] <<<Gripping Step>>> In the gripping step, as shown in FIG. 5, the end effector of the first manipulator M1 moves directly above the end effector of the gripping portion 1, and the gripping portion 1 grips directly below the gripping position of the first manipulator M1.

[0061] Thereby, a part of the sheet material Z is lifted above the conveyor 2 or the sub-conveyor C. Also, at this time, the sheet material Z is disposed between the first imaging unit 31 and the second imaging unit 32 in a front view and is suspended between the first conveyor 21 and the sub-conveyor C. Also, at this time, the first manipulator M1 returns to the initial position shown in FIG. 3 in preparation for the transfer of the continuously conveyed sheet material Z.

[0062] <<<Detection Step>>> In the detection step, as shown in FIG. 6, the first imaging unit 31 and the second imaging unit 32 image the sheet material Z from the upstream side and the downstream side of the movement path. At this time, the first imaging unit 31 and the second imaging unit 32 color-image a predetermined area of the sheet material Z, for example, and acquire imaging data.

[0063] As a result, for each area imaged by the first imaging unit 31 and the second imaging unit 32, the control system extracts feature amounts based on the imaging data and detects edge elements ZF.

[0064] <<<Placement process>>> In the placement process, as shown in FIG. 7, the gripping unit 1 moves to the downstream side, and the sheet material Z is placed on the first conveyor 21. At this time, as the gripping unit 1 moves, the first conveyor 21 is driven to the downstream side at a speed slower than the moving speed of the gripping unit 1, thereby assisting the placement operation of the sheet material Z onto the first conveyor 21. Note that the sheet material Z lifted upward in the gripping process moves downstream while the gripping unit 1 moves obliquely downward at the upstream end of the first conveyor 21, and is placed on the first conveyor 21 in a lying-down manner.

[0065] Here, in the detection process, based on the difference in the exposure degree of the edge elements (the edge element ZF in the area viewed from the upstream imaged by the first imaging unit 31 and the edge element ZF in the area viewed from the downstream imaged by the second imaging unit 32) for each area, the behavior of the subsequent conveying process changes.

[0066] Specifically, in the detection process, the exposure degrees of the edge elements ZF included in the imaging data of each area are compared, and it is determined which imaging data has the larger exposure degree. Then, in the conveying process, the relative speed between the moving speed along the moving path of the gripping unit 1 and the moving speed along the moving path of the conveying unit 2 is changed so that the area with the larger exposure degree faces the second manipulator M2 (is arranged to be exposed outward).

[0067] Hereinafter, the conveying process when the exposure degree of the edge element ZF in the area detected by the first imaging unit 31 is large is referred to as the conveying process A, and the subsequent processes are also described in detail with reference to FIGS. 8 to 12. In addition, when the exposure degree of the edge element ZF in the region detected by the second imaging unit 32 is large, the conveyance process will be described in detail with reference to FIGS. 13 to 18, including the subsequent processes, as the conveyance process B.

[0068] <<<Conveyance Process A>>> In the conveyance process A, as shown in FIG. 8, the gripping unit 1 moves further downstream by the moving means T from the state shown in FIG. 7, so that the portion of the sheet material Z gripped by the gripping unit 1 moves downstream. That is, the gripping unit 1 moves faster than the driving speed of the conveyance unit 2 (the first conveyor 21 and the second conveyor 22).

[0069] As a result, the sheet material Z is stretched so that the region detected by the first imaging unit 31 is exposed outward. At this time, as the relative speed, it is only necessary that the moving speed of the gripping unit 1 is faster than the driving speed of the conveyance unit 2. Therefore, the conveyance unit 2 may not be driven and only the gripping unit 1 may move, or the conveyance unit 2 may be driven more slowly than the gripping unit 1.

[0070] <<<Delivery Process>>> In the delivery process, as shown in FIG. 9, the second manipulator M2 recognizes the edge element ZF and grips the periphery of the sheet material Z. At this time, the second manipulator M2, for example, color-images a predetermined region of the sheet material Z and acquires image data. Then, when the control system detects the edge element ZF based on the acquired image data, the coordinates of the movement destination (gripping position) of the end effector are determined, and the end effector moves to the periphery of the sheet material Z and grips the portion.

[0071] In addition, in determining the gripping position, the second manipulator M2 determines the position so that the length of the edge element ZF from the gripping position of the gripping unit 1 to the gripping position of the second manipulator M2 is a length that allows the extension operation by the extension means E.

[0072] Next, as shown in FIG. 10, the end effector of the second manipulator M2 moves to the downstream side. Then, the movement of the second manipulator M2 is stopped at a position where the gripping positions of the gripping portion 1 and the second manipulator M2 are aligned in the front-rear and up-down directions and are spaced apart by a predetermined interval in the left-right direction.

[0073] Next, as shown in FIG. 11, each extension means main body E1 moves inward along the left and right rails E3 so that the interval between the extension means main bodies E1 is substantially the same as the interval between the gripping positions of the gripping portion 1 and the second manipulator M2. Further, by moving each extension means main body E1 forward along each front and rear rail E2, the end effector of each extension means main body E1 grips directly below the gripping positions of the gripping portion 1 and the second manipulator M2. Thereby, the sheet material Z is delivered to each extension means main body E1.

[0074] Next, as shown in FIG. 12, by moving each extension means main body E1 outward along the left and right rails E3, the periphery between the gripping positions on the sheet material Z is expanded. Also, at this time, the second manipulator M2 returns to the initial position shown in FIG. 8 in preparation for gripping the continuously conveyed sheet material Z. Also, at this time, the gripping portion 1 also returns to the initial position shown in FIG. 3 in preparation for gripping and conveying the continuously conveyed sheet material Z.

[0075] <<<Conveying Step B>>> In the conveying step B, as shown in FIG. 13, by driving the conveying unit 2, the portion of the sheet material Z placed on the conveying unit 2 moves to the downstream side. That is, the conveying unit 2 (the first conveyor 21 and the second conveyor 22) is driven faster than the moving speed of the gripping portion 1.

[0076] Thereby, the sheet material Z is stretched so that the region detected by the second imaging unit 32 is exposed outward. At this time, as the relative speed, it is sufficient that the moving speed of the conveying unit 2 is faster than the moving speed of the gripping unit 1. Therefore, the gripping unit 1 may not move and only the conveying unit 2 may be driven, or the gripping unit 1 may move more slowly than the conveying unit 2.

[0077] <<<Delivery process>>> In the delivery process, first, as shown in FIG. 14, while the conveying unit 2 is being driven, the gripping unit 1 moves downstream at a speed slower than the driving speed of the conveying unit 2, so that the entire sheet material Z moves downstream.

[0078] Next, as also shown in FIG. 14, the second manipulator M2 detects the edge element ZF in the same manner as the first manipulator M1 in the receiving process, and grips the periphery of the sheet material Z. Note that the determination of the gripping position is the same as after the conveying process A.

[0079] Next, as shown in FIG. 15, the end effector of the second manipulator M2 moves upstream. Then, at a position where the gripping positions of the gripping unit 1 and the second manipulator M2 are aligned in the front-rear and up-down directions and with a predetermined interval in the left-right direction, the movement of the second manipulator M2 is stopped.

[0080] Next, as shown in FIG. 16, by driving the second conveyor 22 upstream, the portion of the sheet material Z placed on the conveying unit 2 moves upstream.

[0081] Next, as shown in FIG. 17, in the same manner as the delivery process after the conveying process A, the sheet material Z is delivered to each extension means main body E1.

[0082] Next, as shown in FIG. 18, in the same manner as the delivery process after the conveying process A, each extension means main body E1 moves outward along the left and right rails E3, so that the periphery between the gripping positions of the sheet material Z is extended. Also at this time, the second manipulator M2 returns to the initial position shown in FIG. 8 in preparation for gripping the continuously conveyed sheet material Z. Also, at this time, the gripping part 1 also returns to the initial position shown in FIG. 3 in preparation for gripping and transporting the continuously transported sheet material Z.

[0083] Regarding after the delivery process shown in FIGS. 12 and 18, the sheet material Z may be further moved downstream by, for example, the second conveyor 22, or may be collected by an operator. By various methods including the above, the sheet material Z is fed into a dedicated device (not shown) that performs folding, sorting, etc.

[0084] Also, the above-described series of operations, that is, the operating speed and operating start timing of each component, the operating stop position, the detection and comparison determination timing by the imaging unit 3, etc. are controlled by a control system (not shown), and thus are smoothly and automatically performed.

[0085] FIG. 19 is a flowchart showing the flow of the above-described series of processing methods. In addition, in the processing method according to the present embodiment, the placement step is not essential, and after the detection step, the conveyance step may be performed by moving the gripping part 1 or driving the conveyance part 2 including the first conveyor 21.

[0086] <<Effect>> As described above, according to the present embodiment, by increasing the degree of exposure of the edge element ZF, which is the area to be detected and gripped when arranging the form of the sheet material Z, in the stretching step, the detection operation and gripping operation of the sheet material Z can be made smooth.

[0087] Also, by the gripping step and the conveyance step, the sheet material Z can be smoothly stretched in the horizontal direction, and the processing efficiency is improved.

[0088] Also, since the gripping part 1 is configured to be movable along the movement path, the way of stretching can be flexibly changed according to the form of the sheet material Z.

[0089] Also, based on the detection of feature amounts in the detection step, by changing the relative speed between the gripping part 1 and the conveying part 2 in the conveying step, the sheet material Z can be appropriately stretched according to the form of the sheet material Z so that the exposure degree of the edge element ZF increases more.

[0090] Also, by using the first conveyor 21 and the second conveyor 22 as the conveying part 2, an appropriate stretching operation of the sheet material Z can be performed in a state where the sheet material Z is placed on each of the conveyors 21 and 22, and the control of the conveying part 2 becomes simpler.

[0091] Also, since the imaging part 3 includes the first imaging part 31 and the second imaging part 32, the detection of the edge element ZF in each area in the detection step can be performed more reliably.

[0092] Also, since the edge element ZF is a colored yarn applied to the sheet material, the detection of the edge element ZF in each area in the detection step can be performed more reliably.

[0093] <Embodiment 2> Hereinafter, a processing system according to Embodiment 2 will be described with reference to FIGS. 20 to 26. In the same embodiment, for components that are basically the same as those in Embodiment 1, the same reference numerals are given and the description thereof is simplified. Also, hereinafter, for convenience of explanation, the x-axis direction shown in FIG. 20 will be referred to as the left-right direction, the y-axis direction as the front-back direction (or downstream side, upstream side), and the z-axis direction as the up-down direction.

[0094] <<Processing System>> Hereinafter, the configuration of the processing system X will be described with reference to FIG. 20. Note that FIG. 20(a) shows a front view of the processing system X, and FIG. 20(b) shows a plan view of the processing system X. Also, in FIGS. 21 to 25, (a) shows a front view and (b) shows a plan view.

[0095] As shown in FIG. 20, the processing system X includes a gripping unit 1 that grips the sheet material Z and a conveying unit 2 that conveys at least a part of the periphery of the sheet material Z.

[0096] Unlike in the first embodiment, in this embodiment, the gripping unit 1 is also served by the first manipulator M1.

[0097] Similar to the first embodiment, the conveying unit 2 in this embodiment has a first conveyor 21 and a second conveyor 22. However, unlike in the first embodiment, the second conveyor 22 is disposed below the first conveyor 21, and the driving directions of the first conveyor 21 and the second conveyor 22 are arranged to be substantially perpendicular in plan view.

[0098] In addition, in this embodiment, the first conveyor 21 also serves as the sub-conveying unit C in the first embodiment. Furthermore, in this embodiment, a pair of second manipulators M2 are provided on the left and right of the second conveyor 22.

[0099] <<Processing Method>> Hereinafter, with reference to FIGS. 21 to 25, a processing method using the above-described processing system X will be described. In the processing method according to this embodiment, the receiving step and the gripping step in the processing method according to the first embodiment are performed simultaneously.

[0100] <<<Gripping Step (Receiving Step)>>> In the gripping step, as shown in FIG. 21, with respect to the sheet material Z conveyed from the first conveyor 21, the first manipulator M1 (gripping unit 1) recognizes the edge element ZF and grips a part of the periphery of the sheet material Z. Note that the determination of the gripping position is the same as in the receiving step in the first embodiment.

[0101] Next, as shown in FIG. 22, when the end effector of the first manipulator M1 moves directly above the second conveyor 22, the sheet material Z is lifted above the second conveyor 22.

[0102] <<<Descending Step>>> In the descending step, as shown in FIG. 23, when the first manipulator M1 releases the sheet material Z, the sheet material Z falls onto the second conveyor 22.

[0103] As a result, the sheet material Z is stretched by the air resistance during the fall. At this time, the second conveyor 22 may be driven downstream to assist the stretching operation of the sheet material Z. Also, the descending step does not necessarily have to be due to falling. For example, the gripping state by the first manipulator M1 may be maintained, and the first manipulator M1 may be lowered toward the second conveyor 22 at a predetermined speed.

[0104] <<<Conveying Step>>> In the conveying step, as shown in FIG. 24, when the second conveyor 22 is driven downstream, the entire sheet material Z moves between the pair of second manipulators M2. Also, at this time, the second manipulator M2 returns to the initial position shown in FIG. 20 in preparation for gripping the continuously conveyed sheet material Z.

[0105] <<<Delivery Step>>> In the delivery step, as shown in FIG. 25, each second manipulator M2 recognizes the edge element ZF and grips the periphery of the sheet material Z at different positions. Then, the movement of each second manipulator M2 is stopped at a position where the gripping positions of each second manipulator M2 are aligned in the front - rear and up - down directions and are spaced apart by a predetermined interval in the left - right direction.

[0106] After the delivery process shown in Fig. 25, for example, similar to the case of Embodiment 1, an extending means E may be provided on the downstream side, and each gripping position may be delivered thereto, or an extending operation may be performed by each second manipulator M2.

[0107] And, similar to the case of Embodiment 1, for example, by various methods such as movement to the downstream side by the second conveyor 22 and collection by an operator, the sheet material Z is sent to a dedicated device (not shown) that performs folding, sorting, etc. Also, similar to the case of Embodiment 1, the above-described series of operations, that is, the operating speed, the timing of starting the operation, the position of stopping the operation, etc. of each component are controlled by a separately provided control unit (not shown), and thus are smoothly and automatically performed.

[0108] Fig. 26 is a flowchart showing the flow of the above-described series of processing methods. In addition, in the processing method according to the present embodiment, the form change step has the same configuration as the stretching step, but by providing the imaging unit 3 as in Embodiment 1, a detection step may be added to the form change step. Thereby, for example, the imaging data can be used for adjusting the driving speed of the second conveyor 22.

[0109] <<Effect>> As described above, according to the present embodiment, similar to Embodiment 1, by increasing the degree of exposure of the edge element ZF, which is the region to be detected and gripped when adjusting the form of the sheet material Z, in the stretching step, the detection operation and the gripping operation of the sheet material Z can be made smooth.

[0110] Also, in the lowering step, the sheet material Z can be efficiently stretched while saving space and making use of air resistance.

[0111] Furthermore, by including the conveyance step, the sheet material Z can be smoothly stretched in the horizontal direction while maintaining space savings.

[0112] In addition, since the conveying unit 2 includes the first conveyor 21 and the second conveyor 22 disposed below the first conveyor 21, it is possible to secure a certain dropping distance while maintaining space saving, and the sheet material Z can be more suitably stretched.

[0113] <Modified Example> Note that the various shapes, dimensions, etc. of the respective constituent members shown in the above-described embodiments are merely examples, and can be variously modified based on design requirements and the like.

[0114] For example, regarding the edge element ZF, it may be not limited to colored yarns, but may be at least any one of an embroidery pattern, a pattern, the number of yarns, a pile, a hem, the inside of an ear, or a combination thereof.

[0115] The edge element ZF does not necessarily have to be configured to be provided at the periphery of the sheet material Z, and it is sufficient if the periphery of the sheet material Z can be roughly grasped by image recognition. For example, when processing the sheet material Z having a pile surrounded by a hem or an ear, in the detection step, in addition to the hem or the ear being directly recognized, the boundary portion between the hem / ear and the pile may be recognized. Also, for example, the periphery may be recognized by taking the difference between the segment of the non-edge element (for example, the pile of the sheet material Z) and the segment of the entire sheet material Z in the imaging data.

[0116] Also, as the stretching step, although stretching by horizontally conveying the sheet material Z (Embodiment 1) and stretching by dropping (Embodiment 2) are shown, as another example, for example, the stretching step may be performed by blowing air onto the sheet material Z.

[0117] Furthermore, the following modified examples can be considered for each embodiment.

[0118] <<Embodiment 1>> For example, the sub-conveying unit C is not necessarily essential, and the operator may arrange the sheet material Z at the adjacent position of the first manipulator M1 each time.

[0119] Further, the conveying unit 2 does not necessarily have to have the first conveyor 21 and the second conveyor 22, and the sheet material Z may be conveyed by a single conveyor.

[0120] Also, the movement path formed by the conveying unit 2 may be inclined in the vertical direction or bent in the horizontal direction according to the introduction location of the processing system X.

[0121] Further, the imaging unit 3 does not necessarily have to have the first imaging unit 31 and the second imaging unit 32, and a configuration may be adopted in which a plurality of regions are imaged by a single imaging unit while appropriately varying the imaging position.

[0122] Also, a pair of the gripping unit 1 and the moving means T may be provided, and one of them may be used as the conveying unit 2. That is, a configuration may be adopted in which the sheet material Z is stretched and conveyed by a pair of the gripping units 1. At this time, the conveying unit 2 in the first embodiment does not have to be driven and may be used simply as a mounting table.

[0123] Also, in the conveying process, for the edge element ZF included in the imaging data of each region, it may be determined which imaging data has a smaller degree of exposure. At this time, if the degree of exposure of the edge element ZF in the region detected by the first imaging unit 31 is small, the conveying process B is performed, and if the degree of exposure of the edge element ZF in the region detected by the second imaging unit 32 is small, the conveying process A is performed.

[0124] <<Embodiment 2>> For example, one of the second manipulators M2 may be replaced with the gripping unit 1 and the moving means T as in the first embodiment, and the sheet material Z may be gripped by the gripping unit 1 and the second manipulator M2.

[0125] Also, the driving directions of the first conveyor 21 and the second conveyor 22 may be arranged substantially parallel or inclined in a plan view.

Description of Reference Numerals

[0126] X processing system 1 gripping part 2 conveying part 3 imaging part M1 first manipulator M2 second manipulator E extending means T moving means C sub-conveying part Z sheet material ZF edge element

Claims

1. A processing method for processing a sheet material having an edge element indicating a periphery, comprising a form change step of changing the form of the sheet material using a gripping part, wherein the form change step includes a stretching step of increasing the degree of exposure of the edge element by stretching the sheet material.

2. The stretching step includes a gripping step of gripping the sheet material by the gripping part, and a conveying step of conveying at least a part of the periphery of the sheet material by a conveying part configured to be movable along a movement path extending in a horizontal direction. The processing method according to claim 1.

3. The gripping part is configured to be movable along the movement path. The processing method according to claim 2.

4. The form change step includes a detection step of detecting the edge element exposed to the outside by an imaging part, the gripping step includes lifting the gripped sheet material upward, the detection step includes detecting the edge element for a region imaged from the upstream side of the movement path and a region imaged from the downstream side, and the conveying step changes a relative speed between a moving speed of the gripping part along the movement path and a moving speed of the conveying part along the movement path based on a difference in the degree of exposure of each edge element for each region. The processing method according to claim 3.

5. The conveying part is a conveyor, and the conveying step changes the relative speed so that a region with a large degree of exposure of the edge element is disposed to be exposed outward. The processing method according to claim 4.

6. The imaging part includes a first imaging part having an imaging direction from the upstream to the downstream of the movement path, and a second imaging part disposed on the downstream side of the first imaging part and having an imaging direction from the downstream to the upstream of the movement path. The processing method according to claim 4 or 5.

7. The edge element is at least any one of colored yarns, embroidery patterns, patterns, number of yarns, pile, hems, and ears applied to the sheet material, and the processing method according to claim 4.

8. The stretching step includes a gripping step of gripping the sheet material by the gripping portion, and a lowering step of gripping the sheet material by the gripping portion and lifting it upward and lowering it downward, and the processing method according to claim 1.

9. The lowering step is to drop the sheet material downward by the gripping portion, and the processing method according to claim 8.

10. The stretching step includes a conveying step of conveying at least a part of the periphery of the sheet material by a conveying portion configured to be movable along a moving path extending in the horizontal direction, and the processing method according to claim 8 or 9.

11. The conveying portion is a conveyor disposed below the gripping portion, and includes a first conveyor and a second conveyor disposed below the first conveyor. The lowering step is to drop the sheet material conveyed by the first conveyor onto the second conveyor, and the processing method according to claim 10.

12. A processing system for processing a sheet material with a predetermined edge element provided along the periphery, comprising a gripping portion for gripping the sheet material and a conveying portion for conveying at least a part of the periphery of the sheet material. The conveying portion extends along a moving path extending in the horizontal direction to stretch the sheet material, and the processing system.

13. A processing system for processing a sheet material with a predetermined edge element provided along the periphery, comprising a gripping portion for gripping the sheet material. The gripping portion grips the sheet material, lifts it upward, and drops it downward to stretch the sheet material, and the processing system.

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