CN109844213A - Method and system for automatic cutting fabric - Google Patents
Method and system for automatic cutting fabric Download PDFInfo
- Publication number
- CN109844213A CN109844213A CN201780064598.2A CN201780064598A CN109844213A CN 109844213 A CN109844213 A CN 109844213A CN 201780064598 A CN201780064598 A CN 201780064598A CN 109844213 A CN109844213 A CN 109844213A
- Authority
- CN
- China
- Prior art keywords
- sheet
- cutting
- label
- point
- fabric
- 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.)
- Pending
Links
Classifications
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06H—MARKING, INSPECTING, SEAMING OR SEVERING TEXTILE MATERIALS
- D06H7/00—Apparatus or processes for cutting, or otherwise severing, specially adapted for the cutting, or otherwise severing, of textile materials
- D06H7/24—Devices specially adapted for cutting-out samples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06H—MARKING, INSPECTING, SEAMING OR SEVERING TEXTILE MATERIALS
- D06H1/00—Marking textile materials; Marking in combination with metering or inspecting
- D06H1/04—Marking textile materials; Marking in combination with metering or inspecting by attaching threads, tags, or the like
- D06H1/046—Marking textile materials; Marking in combination with metering or inspecting by attaching threads, tags, or the like by attaching tags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
- B26F1/38—Cutting-out; Stamping-out
- B26F1/3806—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface
- B26F1/3813—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface wherein the tool head is moved in a plane parallel to the work in a coordinate system fixed with respect to the work
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
A kind of method and relevant system (1) for automatic cutting fabric, comprising:-an at least fabric pieces (3) are provided；The part is marked in the label (7) knitted at least two spatial points (8,9) on object with representing；Snoop tag (7), and the label by detecting determines position and orientation of the part (3) relative to reference system (X, Y)；According to identified position and orientation automatic cutting part (3).
Description
Technical field
The purpose of the present invention is for the automatic cutting one or more overlapping usually in predetermined preparatory window
The method and system of fabric pieces.
Background technique
In the presence of the known machine for automatic cutting fabric, cuts a fabric or cut the fabric pieces of overlapping simultaneously
Stacking (in the term of this field be referred to as " tissue layer "), knitted generally according to the acquisition of existing cutting pattern (pattern) is multiple
Object shape (quantity that each shape is equal to the layer of the overlapping of fabric in quantitative aspects).Then, these shapes be used to make respectively
Kind product, including such as clothes, cover for seat or the fabric for automotive interior etc..These cutting machines include cutting surfaces, are cutting
The cutting head and telecontrol equipment on surface are cut, telecontrol equipment is suitable for making cutting head along two axis for being parallel to cutting surfaces
Line movement, to define cutting region (that is, machine can be in the maximum surface area wherein cut).Cutting head is equipped with for cutting
The cutting element of fabric is cut, the vertical blades typically with high-frequency reciprocating linear motion.Command unit is connected to sportswear
Set and be connected to cutting head, thus issue instruction control they according to the cutting pattern being loaded in command unit come to putting
(one or more) fabric set on cutting surfaces is cut.The cutting process can be held in stepped or continuous mode
Row.In the case where the process of stepping, each step generally corresponds to limit the cutting pattern of cutting window, and cutting window is defined as
Region comprising constituting the shape group of cutting pattern.In tissue layer, usually there is the space of multiple cutting windows.Once cutting
Pattern is completed tissue layer simultaneously and is remain stationary, then tissue layer is just advanced on cutting surfaces, so that fabric is entirely cut what is followed
It cuts and extends on window.In the case where continuous process, the above process is still maintained, but cutting window is in relative to tissue layer
In continuous movement.
For automatic cutting, it is important that fabric is arranged on cutting surfaces, so that it extends throughout entire cutting window,
Command unit will execute cutting action in the entire cutting window.Otherwise, one or more shapes can be imperfect or have scarce
Sunken.For example, such case will occur when the side that tissue layer is arranged as side and cutting region is not parallel.In the feelings
Under condition, even if one or more first cutting window bendings are located in fabric, there is also such risks, that is, cuts in subsequent
It cuts in step, the edge of cutting window will be more than fabric.
In order to avoid such case, before starting cutting action, operator usually check to ensure that tissue layer relative to
Cutting region is sufficiently placed in the middle, and especially its side is fully aligned with the side of cutting region.For this purpose, cutting head
Equipped with laser source, it is suitable for transmission laser beam on the fabric (usually X-shaped light beam).Processed tissue layer is used for when executing
The first cutting process step (and may be in one or more subsequent program step/operation windows) when, operator
Cutting head is taken near the vertex of tissue layer, and typically by laser, his/her fixed origin, that is, operator should
Position inputs in command unit, and therefore command unit knows origin, cutting window should be positioned relative to the origin.It connects
, operator moves cutting head along the first direction for the side for being parallel to cutting region, and checks to ensure that laser beam
It remains in the acceptable distance in the edge away from tissue layer (for example, operator ensures that laser beam will not enter the week of tissue layer
There is the fabric for being unsuitable for production in the perimeter region, or ensure that laser beam will not move the edge away from tissue layer in battery limit (BL) domain
It is too far), and possibly, then since origin, same check is executed along the second direction for being orthogonal to first direction.At this
During step, if the laser beam of projection on the fabric proves the edge of too close tissue layer or transports beyond edge or laser beam
Too far isolated edge is moved, then operator can make origin correspondingly move and (thus relocate cutting window) (in certain limits).
In extreme circumstances, tissue layer must be relocated manually, especially for keeping it placed in the middle again and/or make the side of tissue layer
More accurately it is aligned again with the side of cutting region.
It has been discovered by the applicants that the method for positional dissection window and/or the position for adjusting tissue layer is
It is extremely difficult and/or very long, therefore the downtime is produced in the fabric treating stage.In addition, this is substantially empirical
Method is related to a degree of inexactness.Additionally, in the case where being manuallyd locate to tissue layer, when there are heavy load
When, produce job security problem.
Summary of the invention
Therefore, for the stacking to a fabric or fabric pieces is cut to obtain the shape of multiple fabrics, application
People has solved the problems, such as this, that is, ensure that cutting action correctly carries out on the fabric, by due to the needs of monitor and
The downtime of generation is restricted to minimum or eliminates, and/or ensure fabric relative to machine will cutting fabric position just
Determine position.
This problem and herein other problems described below by it is according to the present invention, in its each embodiment
It is solved for the method and system of automatic cutting fabric, such as hereinafter explicitly and/or according in described claims
Claimed in, may be in conjunction with the following example.
In an aspect, the present invention relates to a kind of methods for automatic cutting fabric, comprising:
At least a piece of part fabric is provided；
An at least sheet is marked with the label for representing at least two spatial points in the fabric pieces；
The label is detected, and determines an at least sheet relative to reference system by the label detected
The position of system and orientation；
According to an at least sheet described in the position of the determination and orientation automatic cutting.
In another aspect, the present invention relates to a kind of systems for automatic cutting fabric, comprising:
Cutting surfaces are suitable for a bearing at least sheet fabric, the cutting surfaces and are associated with reference system；
Detection system, be suitable for snoop tag, when it is described at least a sheet is placed on the cutting surfaces when, the mark
Note represents at least two spatial points in an at least sheet；
For cutting the cutting head of an at least sheet；
Control system is programmed for the label according to described through detecting and determines an at least sheet relative to the ginseng
The position of lighting system and orientation, and according to the position of the determination and directional instructions for cutting the institute of an at least sheet
State cutting head.
According to applicant, features described above is especially marked fabric pieces at least to connect a spatial point, to this to indicate
Subsequent detection is marked to determine its position and orientation and according to the position and orientation determined in this way to the automatic of fabric pieces
Cutting makes it possible to highly precisely automatic cutting fabric, avoids as described above, for tissue layer relative to cutting region
The semi-manual control of positioning, and/or avoid or limit the dependence repositioned manually to origin and/or sheet/tissue layer.
These features can reduce significantly check tissue layer be properly positioned and/or the repositioning of tissue layer required for the time, thus
Eliminate or reduce the processing downtime.
The present invention can in terms of the one or more in one or more of following preferred feature is provided.
Preferably, it is contemplated that position of described two spatial points relative to reference system is determined from the label of the detection,
And the position of the determination from two spaces point determines the position and the orientation of an at least sheet.
Preferably, control system is programmed for being determined described two spatial points relative to reference system according to the label of the detection
The position of system, and the position of the determination from two spaces point determines the position and the orientation of the fabric pieces.
By this method, the position of fabric pieces and directional energy are determined in a wholly automatic manner.
Preferably, in order to carry out automatic cutting to an at least sheet, if can want to be provided for the automatic cutting
Predetermined cutting window according to the position and direction and location of the determination in an at least sheet.
Preferably, control system is programmed for placing predetermined cutting window according to the position of the determination and orientation
In an at least sheet.
The predetermined cutting window is positioned to preferably include the position according to the determination and be oriented so that described
Cutting window is translated and/or is rotated in an at least sheet.
This makes it possible to most preferably and accurately be automatically positioned cutting window.From above it is clear that cutting window is in fabric
Positioning on part is usually virtual finder step, itself does not have any specific movement on specific object.The void
Quasi- program step corresponds to be executed on cutting surfaces, simultaneously according to the position of fabric as determined in accordance with the present invention and orientation
And the therefore positioning in tissue layer and the corresponding cutting pattern of orientation.
Preferably, an at least sheet described in automatic cutting is included in the multiple shapes of cutting window internal cutting.Preferably,
The control system has been loaded with for the cutting pattern in the multiple shapes of cutting window internal cutting.Cutting head is preferably
Equipped with cutting blade.Automatic cutting system preferably includes kinematic system, which is configured to make the cutting head
Along two axial-movements above the cutting surfaces, this two axis are mutually orthogonal and are parallel to the cutting surfaces.
Control system is preferably programmed to issue the kinematic system and instruct, and instructs to issue to the cutting head.In fact,
The automatic cutting of shape will greatly benefit for the time of reduction provided by the present invention and precision aspect.
Preferably imagine and provides and the stacking including at least fabric pieces of the overlapping of a sheet fabric is marked.Institute
State the part at the top for the stacking that an at least sheet fabric is preferably located at part.Preferably, the cutting surfaces are suitable for
The stacking of supporting member.In fact, carrying out cutting simultaneously to the stacking of sheet improves productivity.
" stackings of the fabric pieces of overlapping " are generally understood as the tissue layer of multiple overlappings, wherein fabric can be different
Change (for example, in terms of material and/or thickness and/or color and/or decorative pattern) between layer and also in one layer, and
Wherein, fabric may include multiple continuous layers (that is, between layer there is no cutting), and/or wherein, the number of layer (and therefore
It is height) it can change along tissue layer.
The stacking of an at least sheet and/or sheet usually has the layout with straight line side, preferably two-by-two
Parallel side；More preferably its layout with rectangle (or square).In fact, sprawling machine (spreading
Machine) usually realization etc is laid out, and is also beneficial to label fabric, is, for example, the process manually marked.
In general, passing through the straight line of two spaces point and the layout of at least stacking of a sheet or sheet for true in advance
Fixed relationship.By this method, the directional energy of sheet is determined from straight line orientation in the planes.
Preferably, the straight line (substantially) is parallel to a side of the layout, is more preferably parallel to the layout
Long side.Advantageous, by this method, the straight line visually and intuitively represents determining for the stacking of sheet or sheet
To.It is noted that the predetermined relationship is actually to be abided by with certain tolerance.For example, when the straight line and the side
When side forms preferably half degree of the angle less than or equal to 1 °, which is substantially counted as being parallel to the side of layout
's.
The label preferably includes at least two different marks, respectively represents described two spatial points, it is highly preferred that
Multiple marks different (more than two) represent corresponding multiple spatial points, the more preferably described mutual equidistant and (base of mark
In sheet) along described aligned.Preferably, the mark is attached at least layout of the stacking of a sheet or sheet
Near transverse edge.By this method, Gu affix note, possibly even manually solid attached being proved to be simpler.
Preferably, described at least two different marks are different from each other.Preferably, the first mark of the mark represents original
Beginning space origins, remaining mark is different with first mark and represents the corresponding spatial point being aligned.The starting is empty
Between point be preferably located to close to layout vertex.In this manner it is possible to simply starting point is fixed in tissue layer, and
The positioning of automatic cutting and/or cutting window carries out reference relative to the starting point.
The present invention include preferably directly it may also be indirectly (that is, by piece plug or another auxiliary element) apply
It is added in the stacked on any position of heap of sheet or sheet, any kind of mark, for example, the mark drawn with dyestuff, changing
Mark, electromagnetism mark (for example, RFID, ferromagnetic label etc.), passive mark and/or active flag are learned (that is, tracking letter can be issued
Number).In a similar way, detection system can be implemented with any technology compatible with used mark, for example, optics or
Electromagnetism reader, chemical sensor, magnetic sensor, proximity sensor, wireless receiver etc..
Preferably, each of described mark is visual beacon (including x, circle, marker, code etc.).
Preferably, at least one of described label mark, it is highly preferred that first mark is also represented for cutting
The useful other information of program step, including one or more of for example following information: type, the number of plies of tissue layer of fabric
And height.
Preferably, detecting the label includes obtaining one or more digital pictures of an at least sheet and to described
One or more digital pictures are handled, to identify the mark, and determine the spatial point relative to the reference
The position of system.
Preferably, the detection system includes camera, which is to obtain an at least sheet or its portion
The digital picture divided.Preferably, control system is programmed for handling one or more of digital pictures, to identify the mark
And determine position of the spatial point relative to the reference system.
Preferably, the camera be tied to securely (for example, the camera is installed on) described cutting head (so that
Kinematic system is a part for being also detection system).By this method, it optimizes space and reduces costs, because identical
Kinematic system is for the detection of label and for cutting.
Preferably, each described mark is bar code, more preferably quick response (QR) code (two dimensional code).
Preferably, determine that each spatial point relative to the position of the reference system includes: to obtain comprising representing institute
It states the corresponding digital picture of the corresponding visual beacon of each spatial point, obtain the reference point of described image relative to the ginseng
The spatial position (for example, optical axial that the central point of described image corresponds to camera) of lighting system is determined described corresponding
Image in relative position of the spatial point relative to the reference point, by corresponding visual beacon in described image
In size and the full-size(d) of corresponding visual beacon make comparisons to obtain the ratio of described image, and according to institute
State the institute of the position, the relative position and each spatial point of the ratio-dependent of reference point relative to the reference system
Rheme is set.
Preferably, marking the stacking of an at least sheet or sheet includes applying (directly or indirectly) multiple marks
Registering, at least heap of a sheet or the sheet is stacked on, each label is equipped with a mark.Preferably, the mark
Label are applied near at least transverse edge of the layout of the stacking of a sheet or sheet.
Preferably, the system for automatic cutting fabric includes labeller, including for an at least sheet fabric or is knitted
The placement surface of the stacking of object, labelling head, corresponding kinematic system, command unit, kinematic system are configured to make described
Labelling head is moved along two quadrature-axis for being parallel to placement surface, and command unit is programmed for kinematic system and labeling
Sign head and issue instruction, for (direct or indirect) by multiple labels be applied to described in an at least sheet or to the sheet
Heap is stacked on, to realize the label, each label is provided preferably at least one described mark.
Preferably, command unit is programmed for according to the position in at least placement surface of the layout of a sheet and determines
Always apply label.By this method, labeling process also carries out automatically, preferably in tissue layer not relative to the side of placement surface
It will also be carried out automatically in the case where alignment.
Detailed description of the invention
From the several preferred but non-exclusionism of the method and system to the automatic cutting according to the present invention for fabric
Embodiment it is following probably and therefore in unrestricted description, other features and advantages of the present invention will be apparent.
This description is related to attached drawing, in which:
- Fig. 1 a, Fig. 1 b and Fig. 1 c are in three corresponding operation stages, are according to the present invention for automatic cutting fabric
System schematic diagram.
Fig. 2 shows labels according to the present invention.
- Fig. 3, Fig. 4 a and Fig. 4 b are in order to show the purpose of method of the invention, viewed from above cutting regions
Concept map.
Specific embodiment
It is suitable for a bearing at least sheet including for example (Fig. 1) for the system 1 of automatic cutting fabric according to the present invention
The cutting surfaces 2 (usually horizontal) of fabric 3 and plane reference system X, Y associated with it and cutting region 5 are (that is, energy
In the maximum region for wherein executing cutting action, as determined by the structure of structure and cutting head as kinematic system).In order to
The clarity of description, the origin of reference system X, Y are located at the apex of cutting region 5 in figure.Cutting surfaces can be fixation
Cutting surfaces, or the surface of preferably conveyer belt (not shown).
In the examples illustrated in the figures, fabric pieces 3 are the tops of the stacking for the fabric pieces positioned at " tissue layer " 4, being i.e. overlapped
That part at place, although an it is suitable for only fabric.Again, for the sake of clarity, in the example being shown in the accompanying drawings
The fabric pieces of all overlappings rectangular layout having the same, although more generally, one layer of fabric can be by two or more not
Same part constitutes or the number of plies (and being therefore height) can change along tissue layer.Tissue layer 4 has rectangular layout, although
The present invention is suitable for the layout of any shape, as long as it does not have circular symmetry.
Preferably, automatic cutting system 1 includes the cutting head 11 and kinematic system equipped with cutting blade (not shown)
12, kinematic system is configured to make cutting head above cutting surfaces along two orthogonal axial-movements, this two axis are flat
Row is in cutting surfaces.Kinematic system can be for example including the bridgeware 13 above cutting region 5, and it is reciprocal along the X direction
Sliding, cutting head is mounted on bridgeware, so that it can reciprocatingly slide on bridgeware along the Y direction.Not more
Kinematic system and cutting head are described or show in detail, because they for example can be known type.
Diced system 1 further includes detection system 6, which is suitable for detecting at least two skies represented in sheet 3
Between point 8,9 label 7.
In the example being shown in the accompanying drawings, label 7 realizes that this series of flags is applied to sheet 3 by a series of labels 20
It is upper and be arranged near the transverse edge 24 of the part, and be in alignment with each other and with it is evenly spaced.
It shows and is carried by the example of the label 20 of QR code 21 in Fig. 3.
The QR code constitutes an example landmark, which represents specific point 22, opposite position of the point 22 about QR code
Setting arbitrarily to select.In this example, point 22 is selected as on the cornerwise straight line for passing through QR code, and away from nearest
Vertex it is predetermined apart from upper.Once label has been applied, put 22 spatial position determined it is corresponding in sheet 3
Spatial point.
For example, this series of labels 20 includes being attached to the first vertex of sheet 3 (in the bottom right of Fig. 3 and Fig. 4 A- Fig. 4 b
Vertex in angle) neighbouring the first label 25 and multiple remaining labels, first label include the first mark (for example, showing in Fig. 3
QR code 31 out, the information content are the letters " O " for representing " origin "), which represents the first space in sheet 3
It puts 8 and is referred to as " origin " (being indicated in figure by roundlet), all these multiple remaining labels all include the second mark, with
First indicates different (for example, QR code, information is the letter " A " of representative " alignment ") and represents corresponding empty in sheet 3
Between point (in the accompanying drawings by " x " indicate).For explanatory purposes, these remaining labels include the second label 26, and which represent sheet 3
On second space point 9 and be referred to as " snap point " (in attached drawing arbitrarily select).Label 20 is arranged in sheet 3, thus phase
The spatial point proof answered is substantially aligned along straight line 23, which closes according to the predetermined space of the layout with tissue layer
System's orientation.In the example shown, straight line 23 is parallel to tissue layer long side 24.
The present invention also includes substitution solution (not shown), wherein for example, label is applied to the vertical side of tissue layer
On, or wherein, straight line 23 is arranged as the diagonal line along tissue layer and/or is parallel to short side.
Additionally, the solution (not shown) that the present invention is included is contemplated using the mark different from QR code, including
Linear bar code or directly using x or small circle (in this case, acquired image is handled by suitable algorithm,
It is As be well known in the art to identify these marks).
It is noted that x shown in Fig. 1 a- Fig. 1 c, Fig. 3 and Fig. 4 a- Fig. 4 b and roundlet are only the pure illustrative of spatial point
Example, and not necessarily reappeared the true appearance of the label in example described herein.As explained above, label 20 shows
Corresponding QR code as shown in Figure 2 out.
In addition, mark can draw (not shown) on part, such as draw or print, rather than part is applied to by label
On.In addition, mark can directly be affixed to composition tissue layer 4 on fabric, or it is affixed to the auxiliary at the top for being arranged in tissue layer
On piece (for example, a piece of paper) describedly (in this case, label is as being directly affixed in sheet 3).
The present invention also includes such solution (not shown), wherein the label at least one of indicates, preferably
Ground is that the first mark represents the other information that can be used for cutting process step, type, the number of plies, tissue layer including such as fabric
Height etc..For example, being additional to or instead of alphabetical " O " and/or " A ", which can be written as encoding by QR code.The information
Cutting parameter, including blade forward speed, frequency of oscillation or sharpening time then can be used to construct.
In another solution (not shown) fallen within the scope of the present invention, a series of labels can not be applied, and
It is to draw line (solid line or dotted line are preferably straight line) in tissue layer, there is predetermined relationship (example relative to layout
Such as, it is parallel to long side).This root line can have at least one predetermined spatial point (for example, endpoint of line), can be used as
For origin or the whole length of its extensible tissue layer.In the later case, operator can manually by tissue layer (preferably
Ground is on line) spatial point input be control system origin.Therefore this method will detect the line (for example, by known use
In the technology of processing image) to determine orientation of the tissue layer relative to axis X and Y.
Detection system 6 preferably includes camera 10, and camera 10 is configured to obtain the digital picture of sheet 3, meet
The fact that QR code is visual beacon in this example.
(not shown) in one embodiment, camera are fixed relative to cutting region, and it is with optical field, from
And entire cutting region only can be obtained with a digital pictures or several digital pictures.In this way, it is possible to by this/
The processing of these images carrys out snoop tag.
Example as shown, in alternative embodiments, camera 10 are tied to cutting head securely, because of its rigidity
Ground is mounted in cutting head, so that it can also be moved by kinematic system 12.Advantageously, camera 10 has optical axial 15,
The optical axial 15 is preferably orthogonal to cutting region 5.
Diced system 1 include control system 100 (e.g., including instruction together with diced system and control computer with
And suitable electronic device), which is programmed for determining sheet 3 relative to reference system X, Y according to the label 7 detected
Positioning and orientation, and cutting head 11 is issued and is instructed, according to the position that thereby determines that and directional cutting part 3 or fabric
Layer 4.
Control system 100 is preferably programmed to issue kinematic system 12 and instruct, to refer to cutting head sending
It enables.
In a preferred embodiment, the system for automatic cutting fabric 1 includes labeller (not shown), including is used for part
3 or the placement surfaces (usually horizontal and realized by conveyer belt) of stacking 4 of fabric pieces, labelling head, corresponding
Kinematic system, command unit (for example, computer), the kinematic system head that is configured to make to label is transported along two axis
Dynamic, this two axis are mutually orthogonal and are parallel to placement surface, which is programmed for kinematic system and labelling head
Portion issues instruction, to apply on multiple labels 20 to part or stacked on to the heap of part, each label carries the mark
21.Placement surface can be usually the unrolled surface that fabric spreads out machine.Due to itself being known, so not more in detail
Carefully describe or show labeller.
In operation, automatic cutting system 1 described above executes automatic cutting according to the present invention, for fabric
Illustrative methods.
Firstly, method includes stacking 4 with 7 pairs of label of at least two spatial points 8,9 represented in stacking 4 to be marked.
Stacking 4 is marked and preferably includes the sheet that the multiple label 20 is applied to top by (direct or indirect)
On 3.
In one embodiment, label 20 is manually applied by operator.In this case, operator applies label, makes
It obtains the spatial point that label limits in sheet 3 to be aligned relative to each other as much as possible, and is aligned with long side 24.For example, being
This purpose, operator arrange that all labels are in away from the identical distance of transverse edge 24 (for example, to all fabrics to be discarded
Between each label and the edge).
In a preferred embodiment, label 20 is applied automatically by labeller.For this purpose, starting point is (for example, close
First vertex) and part or sheet in placement surface stacking orientation initially, be preferably entered manually in command unit
(for example, second point being aligned by being manually entered near the vertex opposite with the first vertex), so that passing through on label
Spatial point straight line 23 proof be parallel to long side 24.
Then after label processing, stacking 4 is placed on cutting surfaces 2, so that the end sections stacked are located at cutting
In region 5；The end sections stacked include the first vertex, and first label 25 is located near first vertex.
At this time, it is contemplated to the detection to label.
For this purpose, control system 100 initially makes the movement of camera 10 (for example, by the zigzag of cutting head 11
Movement), to be scanned to sheet 3 close to the part that the first vertex includes starting point 8, obtain the relevant digital picture of part
(usually passing through camera electronic device mounted), until the QR code of the first label is completely into the optical field of camera
Until (Fig. 1 a).When control system (for example, electronic device that camera carries) identification QR code, control system makes cutting head
Stop with camera.For example, acquired QR code signal is sent instruction by the electronic device that camera carries and control calculates
Machine, and computer sends stop signal and receives stopping confirmation signal to cutting head and from cutting head.At that time, control system
100 obtain the position (for example, the space coordinate of optical axial 15 relative to system X, Y) of camera and the digitized map comprising QR code
Picture, and continue to handle it, so that it is determined that actual position of the spatial point 8 relative to system X, Y, and the point 8 obtains
It is taken as starting point.For this purpose, control system determines relative position (example of the spatial point 8 represented by QR code in digital picture
Such as, relative position of the spatial point 8 about the point for corresponding to optical axial 15 in the picture).In addition, by image QR code it is opposite
Size (for example, the diagonal line as QR code or pixel number as occupied by the side of QR code) is compared with known full-size(d)
Compared with to obtain the ratio (in another words, it is determined that the full-size(d) for corresponding to single pixel in image) of image.It, can by the data
To determine actual position of the starting point 8 relative to optical axial 15, and thus can determine starting point 8 relative to reference system X,
The actual position of Y.In addition, can determine the height of tissue layer from the data, and this is highly available for instruction cutting process step,
Such as constructing parameter, such as sharpening time of speed, frequency of oscillation or blade.
Then, camera rapidly, preferably along X-axis line moves, as far as the opposite apex (figure of cutting region 5
1b), preferably not snoop tag, and camera this time repeats again on the contrary towards the first vertex movements from this
State scanner program step, until the second label 26 QR code completely into the optical field of camera until (Fig. 1 c).Pass through
It completes above for program step described in the first label, it is determined that actual position of the second space point 9 about system X, Y,
And second space point 9 is retrieved as " point of alignment ".By this method, control system 100 obtains the direction of straight line 23, and therefore
Obtain the direction of the side 24 of tissue layer.The detection of above-mentioned example method can be used for being aligned and farthest since starting point
Label makes it possible to determine the orientation of tissue layer with possible maximal accuracy.
In short, have been determined starting point 8 actual position (and it is thus determined that the stacking 4 of sheet 3 or sheet position
Set), and by the point 9 of alignment determined in the cutting surfaces 2 of side 24 orientation (and it is thus determined that sheet 3 or
The orientation of the stacking 4 of sheet), position and true orientation of the tissue layer relative to system X, Y, and be proved to be and pass through control system
100 acquisitions.
At this point, control system is provided according to identified position and orientation automatic cutting tissue layer, preferably in order to obtain
The purpose (Fig. 3, Fig. 4 a and Fig. 4 b) of multiple shapes in predetermined cutting window 30.
Program step can be described in terms of according to predetermined position and direction positional dissection window.As described in
, statement " positional dissection window " is interpreted as in metaphoric meaning.Control system is held generally according to the cutting pattern of preloading
Row cutting process step, the cutting pattern of the preloading are adapted to such as previously determined positioning and orientation.
Fig. 3 shows such situation, wherein tissue layer is located on cutting surfaces, wherein side is parallel to axis X, Y simultaneously
And it is placed in the middle relative to cutting region.In this case, control system is positioned (example relative to starting point 8 to cutting window 30
Such as, the vertex of cutting window overlaps in starting point), and this is generally to make the fabric of tissue layer in entire cutting window enough
Extend on 30.
Fig. 4 A and Fig. 4 B show such situation, wherein tissue layer is located on cutting surfaces, wherein long side is not parallel
In X-axis line (as also shown in Fig. 1 a- Fig. 1 c).It should be noted that the clarity for description exaggerates in the figure
This is misaligned.In reality, by straight line 23 and side 24 be formed by angle be it is lesser, usually in the magnitude in several years.
In this case, the translational motion simple on cutting surfaces by cutting window, it is impossible to not moved in window
Window is positioned (as indicated by the ellipse of two dotted lines) in the case where more than tissue layer.Situation tend to
The advance (in the accompanying drawings to the left) of tissue layer and even worse is become for the cutting in subsequent cutting window.
By suitably circumgyration incision window 30, restores tissue layer and run through the state that entire cutting window extends, without
Centainly tissue layer is relocated.
Once cutting action is completed in the first cutting window, then sheet 3 or sheet stack and 4 usually advance (for example, by
Conveyer belt at cutting surfaces 2) suitable length, so that new fabric is located in cutting region 5 for subsequent cutting rank
Section.Preferably, locator step is executed again, the new orientation for snoop tag and for determining tissue layer 4.For
This purpose, it is preferable that after the advance of tissue layer 4, the spatial position as occupied by the point 9 of previous alignment is considered new
Starting point, preferably calculated by control system 100 without the use of detection system 6 (because the advance along X-axis line occur).Phase
Instead, system continues as described above to detect the label 20 near the opposite end of cutting region, and determines phase from it
The actual position for the spatial point answered.By this method, position and the orientation for having redefined the stacking 4 of part, according to its execution with
The cutting in cutting window afterwards.
Claims (10)
1. a kind of method for automatic cutting fabric, comprising:
At least (3) fabric is provided；
An at least sheet is marked with the label (7) for representing at least two spatial points (8,9) on the part；
The label (7) is detected, and determines an at least sheet (3) relative to reference by the label detected
The position of system (X, Y) and orientation；
According to an at least sheet described in the position of the determination and orientation automatic cutting.
2. the method as described in claim 1, which is characterized in that imagine from the label (7) of the detection and determine described two skies
Between position of the point (8,9) relative to the reference system (X, Y), and the position of the determination from two spaces point determines institute
State the position and the orientation of an at least sheet (3), wherein pass through described two spatial points (8,9) straight line (23) with it is described
The layout of the stacking (4) of an at least sheet (3) or sheet is in predetermined relationship.
3. method as described in any one of the preceding claims, which is characterized in that the label (7) is described including respectively representing
At least two different marks of two spaces point (8,9), wherein described at least two different marks are different from each other, described
The first mark in two marks represents the spatial point (8) of starting, is preferably located in the layout of an at least sheet (3)
Near vertex, the second mark at least two mark represents the spatial point (9) being aligned accordingly.
4. method as described in any one of the preceding claims, which is characterized in that the label (7) includes that representative is corresponding multiple
Multiple and different marks of spatial point, the multiple spatial point include described two spatial points (8,9), indicate it is mutually equidistant and
It is aligned substantially along straight line (23), the straight line is arranged essentially parallel to the side (24) of the layout of an at least sheet (3).
5. method as described in any one of the preceding claims, which is characterized in that the label (7) is described including respectively representing
At least two different marks of two spaces point (8,9), each of described mark is visual beacon, and wherein, is visited
Surveying the label (7) includes the one or more digital pictures for obtaining an at least sheet (3), and to one or more
A digital picture is handled, to identify the mark, and determines the spatial point (8,9) relative to the reference system
The position of (X, Y).
6. method as claimed in claim 5, which is characterized in that each of described visual beacon is bar code, preferably
For QR code (21), and wherein it is determined that each spatial point (8,9) includes: relative to the position of the reference system (X, Y)
It obtains the corresponding digital picture of the corresponding visual beacon comprising representing each spatial point, obtain the reference of described image
Put the spatial position relative to the reference system (X, Y), the spatial point (the 8,9) phase determined in corresponding image
For the relative position of the reference point, by size of the corresponding visual beacon in described image and corresponding view
Feel that the full-size(d) of mark makes comparisons to obtain the ratio of described image, and according to the position of the reference point, institute
State the position of relative position and each spatial point of the ratio-dependent (8,9) relative to the reference system (X, Y).
7. method as described in any one of the preceding claims, which is characterized in that an at least sheet (3) is marked
Including directly or indirectly multiple labels (20) are applied in an at least sheet (3), each label is equipped with and represents phase
The corresponding mark for the spatial point (8,9) answered, wherein the label is applied to the transverse direction of the layout of an at least sheet (3)
Near edge (24).
8. method as described in any one of the preceding claims, which is characterized in that for an at least sheet described in automatic cutting,
Imagine predetermined cutting window (30) by making the cutting window on an at least sheet (3) according to described true
Fixed position and orientation translates and/or rotates and be placed in an at least sheet (3), and the cutting window (30) imagines
For for the automatic cutting.
9. a kind of system (1) for automatic cutting fabric, comprising:
Cutting surfaces (2), the cutting surfaces are suitable for a bearing at least sheet (3) fabric, the cutting surfaces and reference system
(X, Y) association；
Detection system (6), the detection system are suitable for snoop tag (7), when an at least sheet (3) is placed on described cut
When cutting on surface (2), the label (7) represents at least two spatial points (8,9) on an at least sheet (3)；
For cutting the cutting head (11) of an at least sheet (3)；
Control system (100), the control system are programmed for determining an at least sheet according to the label (7) of the detection
(3) position relative to the reference system (X, Y) and orientation, and according to the position of the determination and directional instructions for cutting
Cut the cutting head (11) of an at least sheet (3).
10. system as claimed in claim 9, which is characterized in that including kinematic system (12), the kinematic system is configured to make
The cutting head (11) moves above the cutting surfaces (2) along two axis (X, Y), and two axis are mutually just
It hands over and is parallel to the cutting surfaces (2), wherein the detection system (6) includes camera (10), the camera configuration
For the digital picture for obtaining described at least sheet or part thereof, the camera is tied to the cutting head securely
(11), wherein the control system (100) is programmed for issuing the kinematic system (12) and instruct, to instruct the cutting
Head (11) and the detection system (6), wherein the control system (100) is programmed for one or more of digitized maps
As being handled, to identify the label (7), determine that described two spatial points (8,9) are opposite will pass through the label (7)
In the position of the reference system (X, Y), and by described in the determination of the position of the determination of described two spatial points (8,9)
The position of an at least sheet (3) and orientation, wherein the control system (100) is loaded with cutting pattern, for preparatory
The determining multiple shapes of cutting window (30) internal cutting, wherein the control system be programmed for according to the position of the determination and
The cutting window (30) is located in an at least sheet (3) by orientation,
It and include wherein, labeller for the system of automatic cutting (1), the labeller includes for described at least one
The placement surface of sheet fabric, labelling head, corresponding kinematic system, command unit, the kinematic system are configured to make institute
It states labelling head to move along two quadrature-axis for being parallel to the placement surface, command unit is programmed for the movement
System and the labelling head issue instruction, for multiple labels (20) to be directly or indirectly applied to an at least sheet
(3), to realize the label (7), wherein described instruction unit is programmed for according to putting in at least layout of a sheet
It sets the position on surface and orientation and applies label.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102016000105846 | 2016-10-20 | ||
| IT102016000105846A IT201600105846A1 (en) | 2016-10-20 | 2016-10-20 | METHOD AND SYSTEM FOR AUTOMATIC FABRIC CUTTING |
| PCT/IB2017/056500 WO2018073780A1 (en) | 2016-10-20 | 2017-10-19 | Method and system for automatic cutting of fabric |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109844213A true CN109844213A (en) | 2019-06-04 |
Family
ID=58054415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780064598.2A Pending CN109844213A (en) | 2016-10-20 | 2017-10-19 | Method and system for automatic cutting fabric |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US20190257027A1 (en) |
| EP (1) | EP3529412B1 (en) |
| CN (1) | CN109844213A (en) |
| AU (1) | AU2017344481B2 (en) |
| ES (1) | ES2911176T3 (en) |
| IT (1) | IT201600105846A1 (en) |
| PT (1) | PT3529412T (en) |
| RS (1) | RS63118B1 (en) |
| WO (1) | WO2018073780A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776082A (en) * | 2019-11-11 | 2021-05-11 | 华源国际有限公司 | Punching machine |
| CN114007824A (en) * | 2019-06-21 | 2022-02-01 | 力克公司 | Method for placing automatically cut sheet materials into patterned fabric |
| CN114206624A (en) * | 2019-07-16 | 2022-03-18 | 弗托巴国际有限公司 | Method for producing printing carrier and related printing system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020003913B3 (en) * | 2020-06-22 | 2021-06-24 | Edmund Philipp | Method for the application of 3-D functional textile structures with hardware and software components that can be activated and controlled. |
| JP7508956B2 (en) | 2020-09-04 | 2024-07-02 | コニカミノルタ株式会社 | IMAGE GENERATION DEVICE, IMAGE GENERATION METHOD, IMAGE GENERATION PROGRAM, AND IMAGE FORMING SYSTEM |
| SE2051381A1 (en) * | 2020-11-27 | 2022-05-28 | Ikea Supply Ag | Apparatus and method for automation of textile handling |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05200697A (en) * | 1992-01-23 | 1993-08-10 | Shima Seiki Mfg Ltd | Cutting pattern compensation method in cutting machine |
| CA2500087A1 (en) * | 2002-10-01 | 2004-04-15 | Schuler Held Lasertechnik Gmbh & Co. Kg | Device and method for cutting textiles |
| JP2015048556A (en) * | 2013-09-03 | 2015-03-16 | グンゼ株式会社 | Fabric and method for cutting the same |
| CN106966205A (en) * | 2015-12-11 | 2017-07-21 | 株式会社岛精机制作所 | Spreading system and stone method |
-
2016
- 2016-10-20 IT IT102016000105846A patent/IT201600105846A1/en unknown
-
2017
- 2017-10-19 CN CN201780064598.2A patent/CN109844213A/en active Pending
- 2017-10-19 US US16/342,129 patent/US20190257027A1/en not_active Abandoned
- 2017-10-19 WO PCT/IB2017/056500 patent/WO2018073780A1/en unknown
- 2017-10-19 EP EP17797752.7A patent/EP3529412B1/en active Active
- 2017-10-19 ES ES17797752T patent/ES2911176T3/en active Active
- 2017-10-19 PT PT177977527T patent/PT3529412T/en unknown
- 2017-10-19 AU AU2017344481A patent/AU2017344481B2/en active Active
- 2017-10-19 RS RS20220370A patent/RS63118B1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05200697A (en) * | 1992-01-23 | 1993-08-10 | Shima Seiki Mfg Ltd | Cutting pattern compensation method in cutting machine |
| CA2500087A1 (en) * | 2002-10-01 | 2004-04-15 | Schuler Held Lasertechnik Gmbh & Co. Kg | Device and method for cutting textiles |
| JP2015048556A (en) * | 2013-09-03 | 2015-03-16 | グンゼ株式会社 | Fabric and method for cutting the same |
| CN106966205A (en) * | 2015-12-11 | 2017-07-21 | 株式会社岛精机制作所 | Spreading system and stone method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114007824A (en) * | 2019-06-21 | 2022-02-01 | 力克公司 | Method for placing automatically cut sheet materials into patterned fabric |
| CN114007824B (en) * | 2019-06-21 | 2023-09-01 | 力克公司 | Method for placing automatically cut sheet into fabric with patterns |
| CN114206624A (en) * | 2019-07-16 | 2022-03-18 | 弗托巴国际有限公司 | Method for producing printing carrier and related printing system |
| CN112776082A (en) * | 2019-11-11 | 2021-05-11 | 华源国际有限公司 | Punching machine |
Also Published As
| Publication number | Publication date |
|---|---|
| IT201600105846A1 (en) | 2018-04-20 |
| RS63118B1 (en) | 2022-05-31 |
| WO2018073780A1 (en) | 2018-04-26 |
| AU2017344481B2 (en) | 2022-08-25 |
| ES2911176T3 (en) | 2022-05-18 |
| PT3529412T (en) | 2022-05-04 |
| AU2017344481A1 (en) | 2019-05-23 |
| US20190257027A1 (en) | 2019-08-22 |
| EP3529412B1 (en) | 2022-02-09 |
| EP3529412A1 (en) | 2019-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109844213A (en) | Method and system for automatic cutting fabric | |
| DE102019130046B4 (en) | Robot system with improved scanning mechanism | |
| US9421692B2 (en) | Methods and computer program products for processing of coverings such as leather hides and fabrics for furniture and other products | |
| JP5670397B2 (en) | Apparatus and method for picking up loosely stacked articles by robot | |
| US20120197427A1 (en) | Apparatus For Cutting Amd/or Etching Articles Comprising A Flat Surface On Which Designs And/or Writings Are Reproduced And A method For Actuating The Apparatus | |
| CN109633612B (en) | Single-line laser radar and camera external reference calibration method without common observation | |
| US9157182B2 (en) | Systems, methods and computer program products for processing of coverings such as leather hides and fabrics for furniture and other products | |
| CN106536128A (en) | Method, machining unit and computer program product for the image-based positioning of workpiece machining processes | |
| WO2011085649A1 (en) | Automatic vision aligned scriber | |
| JP2015089588A (en) | Method and apparatus for taking out article placed in three-dimensional space by using robot | |
| US6807289B2 (en) | Method to compensate for pattern distortion on sheet-type work material spread onto a support surface | |
| JP2012218037A (en) | Sheet metal process work support system | |
| GB2287786A (en) | Garment marker system with computer assisted alignment of variable contrast cloth designs | |
| WO2016163564A1 (en) | Information processing device, information processing system, position reporting method, and program recording medium | |
| CN104727022A (en) | Overlapping sewing device and method | |
| EP3167996A1 (en) | Process for the calibration of a combined laser cutting and engraving and embroidering system and a relative combined laser cutting and engraving and embroidering system | |
| CN109715307A (en) | Bending machine with workspace image capture device and the method for indicating workspace | |
| JP2012193473A (en) | Fabric cutting device and fabric cutting method | |
| CN109827575A (en) | Robot localization method based on positioning identifier | |
| US20200124695A1 (en) | Positioning method, apparatus and system, layout method of positioning system, and storage medium | |
| CN111243016A (en) | Automatic identification and positioning method for container | |
| EP3388822A1 (en) | Method for computing a unique identifier for a gemstone having facets | |
| CN110519508A (en) | A method of identification feature object during camera module automatic aligning | |
| CN112074706A (en) | Accurate positioning system | |
| CN111950308A (en) | Two-dimensional code positioning method for AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190604 |
|
| WD01 | Invention patent application deemed withdrawn after publication |