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EP2019877A1 - Méthode et dispositif pour distinguer les deux extrémités d'un article - Google Patents

Méthode et dispositif pour distinguer les deux extrémités d'un article

Info

Publication number
EP2019877A1
EP2019877A1 EP07736831A EP07736831A EP2019877A1 EP 2019877 A1 EP2019877 A1 EP 2019877A1 EP 07736831 A EP07736831 A EP 07736831A EP 07736831 A EP07736831 A EP 07736831A EP 2019877 A1 EP2019877 A1 EP 2019877A1
Authority
EP
European Patent Office
Prior art keywords
article
photocells
points
profile
curve
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07736831A
Other languages
German (de)
English (en)
Inventor
Nerino Grassi
Antonio Magni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Golden Lady Co SpA
Original Assignee
Golden Lady Co SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Golden Lady Co SpA filed Critical Golden Lady Co SpA
Publication of EP2019877A1 publication Critical patent/EP2019877A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B23/00—Sewing apparatus or machines not otherwise provided for
    • D05B23/007—Sewing units for assembling parts of knitted panties or closing the stocking toe part
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B23/00—Sewing apparatus or machines not otherwise provided for

Definitions

  • the present invention relates to improvements to methods and to devices for handling articles having a longitudinal extension and two ends that differ from each other, for example and in particular tubular knitted articles such as stockings or socks.
  • the present invention relates to a new method and a new device to detect, i.e. distinguish or discriminate from each other two ends of the same article that differ in shape from each other, such as, in particular although not exclusively, a sock or stocking or other tubular knitted article.
  • a new method and a new device to detect, i.e. distinguish or discriminate from each other two ends of the same article that differ in shape from each other, such as, in particular although not exclusively, a sock or stocking or other tubular knitted article.
  • one of the most critical aspects is represented by the difficulty in automatically detecting which of the two ends of a tubular article, such as a sock delivered from a circular knitting machine with the toe open and placed randomly in a container, is the band end and which is the toe, to allow subsequent automated handling of the article in the sewing machines.
  • an operator picks up the individual semi-finished articles from a container, such as a basket, in which the semi-finished articles coming from knitting machines are placed randomly with the toe end still open, i.e. not yet sewn or linked.
  • the operator then inserts the semi-finished article onto a conveying tube oriented in the correct direction, i.e. in the position required by the machinery downstream, which will automatically perform sewing or linking of the toe.
  • US-A-5, 040,475 describes a complex machine that picks up individual tubular articles from a container in which these are placed randomly.
  • detection means first detect the orientation of the tubular article along the feed path, identifying whether the article is oriented with the toe or with the elastic band end facing forward along said path. After this has been detected, the tubular article is disposed in an intermediate station, from which it is delivered in one direction or in the opposite direction as a function of the orientation with which it entered said station.
  • JP-A-7468502 and JP-A-1272801 describe other apparatus for handling tubular articles such as stockings or socks in order to orient them appropriately.
  • US-A-6719577 describes a device that longitudinally orients individual tubular articles coming from a container, in which they are placed randomly.
  • EP-A-1221502 describes a device in which the individual socks or other tubular articles are picked up from a container in which they are placed randomly and are then oriented so that one of the ends thereof is always the leading end by means of a particular pneumatic path and using detection systems capable of distinguishing the elastic band end from the toe of the article through different stretch characteristics of the fabric.
  • US-A-5769286 describes a spreading device for longitudinally spreading socks or other tubular knitted articles.
  • EP-A-178143 describes a further system to detect the orientation of a tubular textile article by distinguishing the elastic band end from the toe.
  • US-A-5511501 describes a complex machine that picks up individual tubular articles from a container, in which they are placed randomly and separates them placing each individual tubular article in a respective container of smaller dimensions. Subsequently, each article is picked up from the respective container of smaller dimensions and inserted in a specific pneumatic path inside which the tubular article is oriented so that it is delivered from the pneumatic path always with the same orientation.
  • US-A-5884822 describes a further device and a method to pick up individual tubular articles from a container.
  • US-A-5992712 describes yet another device to pick up individual tubular knitted articles and orient them appropriately.
  • An object of an embodiment of the present invention is to provide a method and a device that allow detection, i.e. automatic distinguishing from each other of the two ends of an article, which has ends that differ in shape from each other.
  • the object of the invention is to provide a method and a device which allow the toe or the elastic band end of a sock or stocking to be distinguished and detected.
  • a method for distinguishing from each other i.e. for discriminating one from the other a first end and a second end of an elongated article, comprising the steps of: generating a curve that approximates the profile of one of said ends; and processing said curve to detect whether it approximates the profile of said first or of said second end.
  • this aspect of the invention there is provided the generation by points of a curve that approximates the real profile of one of the two ends of the article, i.e. the one that is presented to the reading sensors.
  • the device On the basis of the conformation of this approximation curve the device is able to detect whether this end is the first or the second of two ends characterized by profiles which are substantially different from each other, such as typically the toe and the elastic band end of a sock.
  • the points of the approximation curve are each characterized by two coordinates in a reference system, which can advantageously be a Cartesian reference system, although it would also be possible to use other reference systems, preferably two-dimensional, as the article will normally have a flat conformation.
  • the method provides for moving with respect to each other an article and an array of photocells, for example aligned along a straight line, to gradually intercept the beams of the photocells with the end of the article.
  • a plurality of points are determined lying on a profile that approximates the profile of the end of the article.
  • the method provides the steps of: arranging a plurality of photocells according to a predetermined arrangement; moving said arrangement of photocells and said article with respect to each other along a direction of relative movement, so that one end of said article intercepts the beams of said photocells during the relative movement; determining the coordinates of a plurality of points belonging to the profile of said end of the article that intercepts said beams, on the basis of: the relative positions taken by said article with respect to said photocells during the reciprocal movement, and of the arrangement of the photocells.
  • each time a photocell is intercepted by said article during said relative movement the relative position between article and said photocells is detected, the position of the intercepted photocell and the reciprocal position between photocells and article along said direction of relative movement defining the coordinates of a point belonging to said profile.
  • the curve that approximates the profile of the end of the article that intercepts the photocells can be generated by interpolating the points belonging to the profile of said end, for example with a linear interpolation. More complex processing would also be possible to obtain high degree interpolating polynomials of, although this is not absolutely necessary.
  • An approximation through segments of straight line that join together the various points identified on the profile of the end of the article is usually sufficiently accurate. Therefore, in the present description and in the appended claims, curve is intended in general also as a broken line, obtained for example from the sequence of the portions of straight lines that join the points identified on the profile of the end of the article.
  • the curve that approximates the profile of the end of the article read by the photocells is processed to determine the trend of the slope thereof, the first end and the second end of said article being detected and distinguished as a function of this trend of the slope.
  • This can, for example, be performed by calculating the derivative of the curve obtained through the points identified on the end profile.
  • the derivative can also be calculated by points, and therefore be constituted by a broken line that approximates, even roughly, the trend of the derivative.
  • the invention relates to a device to distinguish from each other, i.e. to discriminate from one another a first end and a second end of an article, comprising an arrangement of sensors to identify a plurality of points belonging to the profile of an end of said article, and a control and processing unit which, as a function of the coordinates of said points, detects whether they belong to said first end or to said second end.
  • control and processing unit can be programmed so as to generate a curve that approximates the profile of said end as a function of said points identified by said sensors.
  • the sensors comprise an arrangement of photocells, and there are also provided handling members to move with respect to each other, along a direction of relative movement, said article and said arrangement of photocells, with a system to detect the reciprocal position between said article and said photocells.
  • the control and processing unit can be programmed to determine the plurality of points associating the positions of the photocells that are intercepted by said article, during the relative movement between the article and the photocells, with the position taken each time by the article with respect to the photocells along said direction of relative movement.
  • the arrangement of photocells can be of various types. Preferably, they will be disposed according to a linear string of photocells. This string of photocells is preferably disposed according to an alignment orthogonal to said direction of relative movement. In this way, a series of points in a system of Cartesian coordinates is obtained simply by translating the article and the array of photocells with respect to each other.
  • control and processing unit can be programmed so that each time a photocell is intercepted by said article during said relative movement, the relative position between article and photocells is detected, the position of the intercepted photocell and the reciprocal position between article and photocells along said direction of relative movement, forming the coordinates of a point belonging to said profile.
  • Figure 1 shows a diagram of the device in a front view
  • Figure 2 shows a section according to H-Il in Figure 1 ;
  • Figures 3A-3D schematically show a sequence of movement of an article like a stocking or sock, which is positioned with the toe facing the optical reading system;
  • Figure 4 shows a diagram of the profile of the toe of the article and the derivative thereof
  • Figures 5A-5B schematically show a sequence of movement of an article which is positioned with the band end facing the optical reading system;
  • Figure 6 shows a diagram of the profile of the band end and the derivative thereof;
  • Figure 7 schematically shows a different method of processing to discriminate the first and the second end of an article from each other, on the basis of the trend of a curve that approximates the profile of the end of the article viewed by the sensors of the device;
  • Figures 8 and 9 show a further embodiment of the method according to the present invention.
  • Figures 1OA and 10B show a modified embodiment of the invention. Detailed description of a preferred embodiment of the invention Figures 1 and 2 very schematically show the device according to the invention.
  • the numeral 1 indicates a supporting surface of an article M, which in the example illustrated is a sock with a toe P to be sewn and an elastic band end B.
  • a movable element 3 such as a presser provided with a lifting and lowering movement fv and a translational movement according to the double arrow fo.
  • the presser 3 is moved according to the double arrow fv by a piston-cylinder actuator 5, in turn carried by a slide 7 sliding in a guide (not shown).
  • the movement according to fo of the slide 7 along the guide is controlled by a belt 9 driven around two pulleys 11, 13 the second of which is motorized by means of a motor 15.
  • the numeral 17 indicates an encoder or other angular transducer that allows detection of the movement of the motor 15 and consequently of the slide 7 according to the double arrow fo.
  • any other means could be used to detect the movements of the slide 7 or even of the presser 3 directly.
  • This detection means (the encoder 17 in the example) is connected to a programmable control unit, indicated with 19, interfaced, for example, with a monitor 20 or other user interface.
  • the control unit 19 can be provided with a keypad and other peripherals and units typical of a programmable control device usable to control the device.
  • the numeral 21 indicates a system of photocells comprising a linear array of photoemitters and a linear array of photoreceivers, the two arrays being parallel to and opposite each other.
  • the numeral 23 indicates a first of said arrays, for example the array of photoemitters, while the numeral 25 indicates the opposite array, for example the array of photoreceivers.
  • the arrangement is such that the article M is made to translate with one or other of the ends thereof facing towards the detecting or reading device 21, to intercept with said end the beams of the photocells to detect whether the end that intercepts the photocells is the band end B or the toe P.
  • the two ends P, B of the article M have profiles which differ from each other, by feeding the article M gradually with the end thereof under the linear array of photocells of the reading system 21 it is possible to read and detect the form of the profile of said end, using the following data: the position in space of the photocells; the signal of each photocell; the position of the presser 3 along the direction of movement fo and consequently the position of the article along the direction of feed according to the arrow F.
  • Figures 3A-3D and 4 show detection of a toe P of the article M. These figures show four relative positions of the toe P with respect to the array of photocells 21 , indicated in these diagrams with X1-X8.
  • the positions of the photocells X1-X8 represent a corresponding number of values on the axis of the abscissas of a Cartesian diagram reproduced in Figure 4, while the positions of the article M, determined by the encoder 17 associated with the motor 15, represent the ordinates.
  • a diagram X 1 Y Figure 4 in the abscissas the coordinates corresponding to the photocells that for each discrete value of Y (position of the article) are intercepted, a set of points P1-P6 is obtained which, interpolated, approximately provide the profile PF of the end of the article.
  • the diagrams PF in Figures 4 and 6 have a highly different shape in the two cases.
  • the interpolating curve in Figure 4 has a much more variable slope with respect to the curve in Figure 6.
  • the trend of the derivative (again reproduced for the two cases in the diagrams in Figures 4 and 6 and indicated with D) represents the variation of the slope of the curve and is therefore indicative of the greater or lesser curvature of the profile PF detected by the photocells.
  • the derivative can be used, for example through a simple criterion of comparison with a threshold value, to detect i.e to distinguish the toe from the band end.
  • the difference in value can be compared with an experimentally determined threshold. If the difference in value exceeds the threshold value, this is indicative of a curved profile and consequently identifies a toe, while if the difference in value does not exceed the threshold, this is indicative of a flat profile and consequently identifies a band end.
  • a threshold value according to which the difference between maximum and minimum value of the derivative is significantly below and above this threshold for band end B and toe P profiles of the article, respectively.
  • Figure 7 schematically shows a different embodiment of the invention.
  • the device remains substantially as described with reference to Figures 1 and 2.
  • the methods with which the points PI-Pn belonging to the profile of the end of the article that is read by the sensors, for example constituted by the photocells 23, 25, also remain substantially the same.
  • the methods with which the data representing the points belonging to the approximation curve are processed change.
  • Figure 7A represents a Cartesian reference system, the abscissas and ordinates of which are represented respectively with X and Y.
  • P1-P5 indicate points belonging to the profile of the end of the article M. In this example five points are shown, but it must be understood that the number of points can vary (in this as in the previous embodiment) on the basis of the conformation of the system and of the shape of the article.
  • the curve on which the points P1-P5 lie is sloping with respect to the coordinates X-Y. This means that the article has reached the photocells 23, 25 in an inclined and not in a straight position.
  • This embodiment includes a preliminary step to process the data detected to correct this error.
  • the curve on which the points P1-P5 lie is reproduced in a system of reference X'-Y 1 rotated by an angle ⁇ , the straight line X' of the abscissas of which is more or less orthogonal to the axis of the article, consequently passing through the end points PI 1 P5 of the curve.
  • Figure 7B represents the curve obtained by interpolation of the points P1-P5 in the reference system X'-Y 1 , where the coordinates have been placed in horizontal and vertical position respectively. It is understood that this preliminary operation to correct the slope of the approximation curve of the profile of the end of the article (and consequently the interpolation curve of the points belonging to the profile) can be performed as a preliminary step also in the embodiment described with reference to Figures 3 to 6.
  • Figures 8A and 8B describe an improved procedure or method to discriminate between toe and band end, which prevents discrimination errors due, for example, to interception of the photocells by the side of the article rather than by the end profile (band end or toe) if the article is positioned with a particularly high inclination with respect to the direction of movement.
  • B indicates the band end of the article M
  • FO, F1... FN indicate the photocells in number equal to N+1
  • X, Y or X', Y' indicate the Cartesian reference axes with respect to which the coordinates of the points belonging to the profile of the end (toe or band end) of the article M that intercepts the photocells are identified
  • the system X 1 Y is constituted by axes parallel respectively to the alignment of the photocells and to the relative movement between photocells and article
  • the system XT is the one rotated by an angle corresponding to the angle of inclination, with respect to the axis X, of the line joining the first and the last point of the profile considered for discrimination, according to the criterion of rotation described with reference to the previous embodiment).
  • Figures 8A and 8B represent an article M (such as a sock) from the side of the band end while it passes in front of the photocells slightly inclined with respect to the direction of relative motion, represented by the arrow F.
  • the amount of movement (H) i.e. the relative movement of the article with respect to the photocells, is established in advance and the article moves forward by said amount irrespective of the number of photocells effectively intercepted at the end of this movement.
  • the amount H is preferably just sufficient to allow the profile of the band end B of an inclined article (angle ⁇ in the figure) to pass, to prevent a high number of photocells from intercepting the side of the article in the event of an inclined article.
  • the amount (H) is determined experimentally on the basis of the type of article.
  • the detection algorithm is developed in the following steps:
  • the article M will be positioned with a toe P always substantially flattened frontally, i.e. with an arched profile as shown in the figures.
  • this is not always the case and in particular according to how the article is handled and flattened, it can be positioned lying on one side, so that the toe P does not have the arched profile, shown for example in Figure 2, but a stepped profile, as shown in Figure 9, with an approximately rectilinear area.
  • a toe is discriminated from a band end by counting the number of photocells that have intercepted the profile, as in the toe these are undoubtedly fewer than those involved in a band end.
  • the total number of photocells intercepted by the profile of the article is determined. If this is below a given minimum number, then the end that has passed before the photocells is a toe. If the number of photocells intercepted is higher than said given minimum, then the discrimination procedure described is performed on the basis of the difference of coordinates.
  • the more efficient system comprises both the criterion of rotation of the coordinates of the profile and therefore of comparison between Ymax and the set value, and the one that takes account of the number of photocells that intercept the profile.
  • only one end of the article is caused to interact with the photocells or other sensors, in order to recognize whether said end is the first end or the second end of the article.
  • the other end is assumed to be the second end (for example the band end).
  • This way of performing the method is not however the only possible alternative. Indeed, e.g. in order to achieve a higher degree of accuracy and reproducibility of the method, or else in order to reduce the risk of misinterpretation of the detected data, in an improved embodiment of the method according to the invention both ends of one and the same article are subject to detection by means of the same or of two different sensor arrangements.
  • the device includes a single linear array of photocells 21.
  • said photocells include photoemitters 23 and photoreceivers 25 arranged on two sides of an intermediate position where the article of manufacture M is caused to pass, as described above.
  • the photocells can include photoemitters arranged on the same side of e.g. a reflective surface or conveyor on which the article M is placed.
  • Two handling members 5A and 5B are arranged, one on each side of the photocells arrangement 21.
  • the members 5A, 5B are movable in a vertical direction according to double arrow fv and are suspended from a supporting structure schematically shown at 8.
  • the two handling members 5A, 5B include respective endless belts 6A, 6B, entrained around rollers (three for each handling member in the example shown). At least one of each three-roller cluster is motorized while the others can be idle. The motorized roller causes the respective belt 6A, 6B to move according to double arrow fo.
  • An article of manufacture M having a first end (e.g. a toe end P) and a second end (e.g. a band end B) is moved under the handling members 5A, 5B.
  • the orientation of the article M is random, i.e. it is not known beforehand which is the toe end and which is the band end.
  • the band end B is on the left-hand side of the figure and the toe P is on the right-hand side.
  • the members are lowered (arrow fv), such that at least one of said handling members touch the article M and presses it against the supporting surface 1 , for example a conveyor moving orthogonally to the figure.
  • One or both belts 6A, 6B are put in motion in the same direction, for example such as to push the article towards the left-hand side.
  • one of the ends of the article pass between the surface 1 and the emitters 23, i.e. intercepts the emitter-receiver pairs 23, 25.
  • the band end B has just intercepted the photocells.
  • the device is able to determine, on the basis of one of the above disclosed modes, whether the end which just passed between the photoemitters 23 and photoreceivers 25 is the first or second end.
  • the motion of the belts 6A, 6B can be reversed or continued (depending on the starting position of the article) such that also the second end passes through the photocells 21.
  • the device determines whether the second end is a band end or a toe end, adopting one of the above disclosed methods.
  • Errors double-toe detection or double-band end detection
  • Errors can be caused e.g. if the article is not properly spread on the surface 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Socks And Pantyhose (AREA)
  • Inspection Of Paper Currency And Valuable Securities (AREA)
  • Discharge Of Articles From Conveyors (AREA)

Abstract

L'invention concerne un procédé qui comprend les étapes consistant à générer une courbe (PF) qui approche le profil d'une extrémité (P) d'un article ; traiter ladite courbe pour déterminer si elle approche le profil de ladite première ou de ladite seconde extrémité.
EP07736831A 2006-05-19 2007-05-03 Méthode et dispositif pour distinguer les deux extrémités d'un article Withdrawn EP2019877A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000118A ITFI20060118A1 (it) 2006-05-19 2006-05-19 Metodo e dispositivo per discriminare l'una rispetto all'altra due estremita' di un manufatto
PCT/IT2007/000328 WO2007135702A1 (fr) 2006-05-19 2007-05-03 méthode et dispositif pour distinguer LES deux extrémités d'un article

Publications (1)

Publication Number Publication Date
EP2019877A1 true EP2019877A1 (fr) 2009-02-04

Family

ID=38269050

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07736831A Withdrawn EP2019877A1 (fr) 2006-05-19 2007-05-03 Méthode et dispositif pour distinguer les deux extrémités d'un article

Country Status (11)

Country Link
US (1) US20090301371A1 (fr)
EP (1) EP2019877A1 (fr)
JP (1) JP2009537845A (fr)
KR (1) KR20090008471A (fr)
CN (1) CN101448994A (fr)
BR (1) BRPI0712599A2 (fr)
CA (1) CA2651472A1 (fr)
IT (1) ITFI20060118A1 (fr)
MX (1) MX2008014708A (fr)
RU (1) RU2008150394A (fr)
WO (1) WO2007135702A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109840928B (zh) * 2019-01-31 2023-10-17 北京达佳互联信息技术有限公司 针织图像的生成方法、装置、电子设备及存储介质

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Publication number Priority date Publication date Assignee Title
US3554354A (en) * 1968-07-22 1971-01-12 Singer Co Device for turning fabric panels
US4799613A (en) * 1987-11-09 1989-01-24 Russell Corporation Method and apparatus for sensing the preferred side of garment portions
US5165355A (en) * 1991-03-26 1992-11-24 Sara Lee Corporation Method and apparatus for handling hosiery blanks
US5511501A (en) * 1994-04-05 1996-04-30 Monarch Knitting Machinery Corporation Method and apparatus for handling flexible objects
IT1283271B1 (it) * 1996-03-18 1998-04-16 Essedue S R L Dispositivo stenditore di calze ad alimentazione pneumatica, utilizzabile con impianti di trasporto pneumatico di calze ad
IT1286671B1 (it) * 1996-07-09 1998-07-15 Solis Srl Metodo ed apparecchiatura per il prelievo e la movimentazione di manufatti tubolari
JPH1136102A (ja) * 1997-07-10 1999-02-09 Takatori Corp ストッキング生地の処理方法及び装置
IT1314867B1 (it) * 2000-07-21 2003-01-16 Matec Spa Metodo per rilevare l'orientamento di un manufatto tessile presentante due estremita' differenti, apparecchiatura per attuare il suddetto
ITPI20010021A1 (it) * 2001-03-21 2002-09-21 S R A S R L Metodo ed apparecchiatura per l'orientamento longitudinale di articoli di calzetteria
JP3800591B2 (ja) * 2001-09-07 2006-07-26 ヒロセ電機株式会社 カード用コネクタ
ITFI20020106A1 (it) * 2002-06-18 2003-12-18 Matec Spa Dispositivo e metodo per rilevare l'orientamento di manufatti come calze e calzini da uomo

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Title
See references of WO2007135702A1 *

Also Published As

Publication number Publication date
BRPI0712599A2 (pt) 2012-08-14
CA2651472A1 (fr) 2007-11-29
JP2009537845A (ja) 2009-10-29
RU2008150394A (ru) 2010-06-27
US20090301371A1 (en) 2009-12-10
ITFI20060118A1 (it) 2007-11-20
WO2007135702A1 (fr) 2007-11-29
KR20090008471A (ko) 2009-01-21
MX2008014708A (es) 2009-01-29
CN101448994A (zh) 2009-06-03

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