RU2832590C1 - System of technical vision of robotic complex "robot-seamstress" - Google Patents

Abstract

FIELD: sewing.

SUBSTANCE: claimed invention relates to automated systems of sewing production, namely to system of technical vision of robotic complex "Robot-seamstress" for processing sections of garments, comprising a vision camera mounted on a table of a robotic complex on an L-shaped stand with the possibility of being moved by changing the position of the stand, wherein the technical vision camera performs detection, automatic control and analysis of the arrangement of parts in the scanning zone, and the illumination lamp of the contour of the lower surface of the parts, placed on the upper part of the table with the possibility of extension, wherein said vision system is connected with control elements connected to said robot and connected with stack pickup mechanism and overlock.

EFFECT: automated system of sewing production is disclosed.

4 cl, 3 dwg

Description

AREA OF TECHNOLOGY

The claimed invention relates to automated sewing production systems, namely to components of a sewing robotic complex, namely to a technical vision system.

PRIOR ART

A visual positioning and automatic sewing system is known from the prior art (see CN109355812A, published 19.02.2019) (1), which comprises an image receiving module for receiving images of embroidered samples to be sewn, a data processing module for receiving the received images of embroidered samples, performing image processing to obtain sewing paths, calculating coordinates for sewing in accordance with the sewing paths and converting the sewing paths and coordinate positions for sewing into pre-formatted files for sending, a sewing module for receiving files of a predetermined format and completing sewing of the embroidered samples in accordance with the sewing paths and coordinate positions for sewing in the pre-formatted files.

The closest analogue of the claimed device, in the applicant's opinion, is a system for overlapping articles using computer vision (see KR102629757B1, published on 29.01.2024) (2), which uses reference images when sewing clothing parts, includes a test table on which two or more sewn articles of the same shape and size are placed; a robot for gripping sewing material, installed on the test table or outside the test table and equipped with a gripper for gripping sewing material (Obj2) at the end. The system also includes a camera installed on the sewing material gripping robot for photographing the upper surface of the test table and two or more sewing materials (Obj1, Obj2) placed on the upper surface of the test table; an intra-image position calculation unit for each sewing material, which processes the image captured by the camera to calculate the coordinates of the center and the rotation angles of two or more sewing materials (Obj1, Obj2) included in the image; a reference sewing material setting unit that sets one of the sewing materials (Obj1, Obj2) as a reference sewing material (Obj1) to move the robot gripper gripping the sewing material to a sewing material (Obj2) different from the reference sewing material (Obj1), the sewing material (Obj2) to which the gripper is to move, and a first robot position correction value calculation unit that calculates a position coordinate difference and a rotation angle difference between them. By adjusting the gripper position using the position coordinate difference and the rotation angle difference calculated by the first robot position correction value calculation unit, the gripper is used to adjust the gripper position according to the sewing material different from the reference. The sewing material Obj1 is adjusted to the gripper position using the position coordinate difference and the rotation angle difference calculated by the second robot position correction value calculation unit to compare the sewing material Obj2 held by the gripper and the reference.

The closest analogue proposed in (2) has a number of disadvantages, since the system is too complex to implement, manage and use.

SUMMARY OF THE INVENTION

The technical result of the invention is the creation of a simple to implement, manage and maintain technical vision system of the robotic complex "Robot Seamstress".

The technical result is achieved by creating a technical vision system for the "Robot Seamstress" robotic complex, containing a technical vision camera installed on the table of the robotic complex on an L-shaped stand with the ability to move due to a change in the position of the stand and a backlight placed on the upper part of the table with the ability to extend, wherein the technical vision system is connected to the control elements of the collaborative robot, which are connected to the stack pickup mechanism and the overlock.

In a preferred embodiment, the L-shaped stand consists of a vertical and cantilever beam connected by a brace; a crossbar with a holder for a technical vision camera is installed in the upper part.

In a preferred embodiment, the L-shaped stand and camera mounting brackets are designed to allow adjustment of position and direction.

In a preferred embodiment, the L-shaped stand controls the collaborative robot include a collaborative robot controller, a switch, and a mini PC.

BRIEF DESCRIPTION OF THE DRAWINGS

The essence of the invention is explained by the drawing, in which:

Fig. 1 - general view of the technical vision system of the robotic complex "Robot-seamstress";

Fig. 2 - general view of the contour illumination lamp of the robotic complex "Robot-seamstress";

Fig. 3 - diagram of the technical vision system of the robotic complex "Robot-seamstress".

The positions in Fig. 1 denote the following:

1 - vertical beam;

2 - cantilever beam;

3 - brace;

4 - crossbar;

5 - RGB camera;

6 - collaborative robot;

7 - collaborative robot controller;

8 - power control cabinet;

9 - switch;

10 - mini PC;

11 - keyboard, mouse;

12 - monitor;

13 - overlock;

14 - stack pick-up mechanism;

15 - under-table lighting and fabric presence sensor.

These drawings do not cover and, moreover, do not limit the entire scope of options for implementing this technical solution, but represent only illustrative material of a particular case of its implementation.

EMBODIMENT OF THE INVENTION

The declared technical vision system is part of the robotic complex "Robot-seamstress" (hereinafter - RTC), designed to automate the processing (overcasting) of textile material cuts in the manufacture of garments.

The RTC contains a table on which a stack pick-up mechanism (14), a collaborative robot (6), and an overlock (13) are placed. The RTC is equipped with a machine vision system placed on a stand (1) that is attached to the table, a backlight for illuminating the lower surface of the part (15), a replaceable clamp attached to the collaborative robot and a control system, a power supply cabinet, and a control cabinet.

The RTC takes the part from the stack, defines the contour using the machine vision system (MVS), feeds the part to the overlock working element using the robot, processes the edge and moves the product to the next operations. The overcasting cycle consists of the following sequence of operations:

1) The operator places a stack of parts in the receiving area;

2) The operator starts the RTK in automatic mode using a push-button post. The part is moved from the stack to the scanning zone of the STS using a mechanism for picking up the part from the stack;

3) In the part scanning zone. Scanning and contour recognition is performed by the machine vision system (MVS);

4) The robot presses the part taking into account its orientation;

5) Next, the robot moves the part into the overlock working area;

6) The overlock machine overcasts the piece along the required contour, cutting off excess fabric;

7) The finished part is moved by the robot using a clamp to the next table for further operations.

The machine vision system provides detection, automatic control and analysis of the location of objects (parts) in the scanning zone. The external appearance of the system is shown in Fig. 1.

The system is made on a combined basis and is an L-shaped stand consisting of a vertical (1) and cantilever (2) beams connected by a brace (3), in the upper part a crossbar (4) with a holder for an RGB camera (5) is installed. The camera mounting brackets provide the ability to adjust the position and direction.

The contour illumination lamp serves to illuminate the lower surface of the part and provide contour contrast for the operation of the machine vision system. The lamp consists of a housing, inside which controlled LED strips are laid. Light brightness adjustment is provided. The lamp is installed in the upper part of the table and can be pulled out for maintenance. The appearance of the lamp is shown in Fig. 2.

The vision system is connected to the control elements of the collaborative robot (6), which are connected to the stack pick-up mechanism (14) and the overlock (13).

The collaborative robot control elements include the collaborative robot controller (7), switch (9), mini PC (10) equipped with a keyboard, mouse (11), monitor (12). Power is regulated by the power control cabinet (8).

INDUSTRIAL APPLICATION

The proposed technical vision system of the robotic complex "Robot-seamstress" is intended for use in sewing production.

Claims (4)

1. The technical vision system of the robotic complex "Robot-seamstress" for processing sections of garments, containing a technical vision camera installed on the table of the robotic complex on an L-shaped stand with the ability to move due to a change in the position of the stand, wherein the technical vision camera detects, automatically monitors and analyzes the location of parts in the scanning zone, and a lamp for illuminating the contour of the lower surface of the parts, placed on the upper part of the table with the ability to slide out, wherein the technical vision system is connected to control elements attached to the collaborative robot and connected to the stack pickup mechanism and the overlock. 2. The technical vision system according to item 1, characterized in that the L-shaped stand consists of a vertical and cantilever beam connected by a brace, and a crossbar with a holder for the technical vision camera is installed in the upper part. 3. The machine vision system according to item 2, characterized in that the machine vision camera holder is made in the form of a mounting bracket with the ability to adjust the position and direction of the machine vision camera. 4. The technical vision system according to item 1, characterized in that the control elements of the collaborative robot include a collaborative robot controller, a switch, and a mini-PC.