CN113136721A - Automatic deviation rectifying method of clothes folding machine - Google Patents

Automatic deviation rectifying method of clothes folding machine Download PDF

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Publication number
CN113136721A
CN113136721A CN202010051407.2A CN202010051407A CN113136721A CN 113136721 A CN113136721 A CN 113136721A CN 202010051407 A CN202010051407 A CN 202010051407A CN 113136721 A CN113136721 A CN 113136721A
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CN
China
Prior art keywords
clothes
reference line
folding machine
horizontal direction
reference object
Prior art date
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Pending
Application number
CN202010051407.2A
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Chinese (zh)
Inventor
刘凯
吕佩师
许升
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.)
Qingdao Haier Washing Machine Co Ltd
Haier Smart Home Co Ltd
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Qingdao Haier Washing Machine Co Ltd
Haier Smart Home Co Ltd
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Application filed by Qingdao Haier Washing Machine Co Ltd, Haier Smart Home Co Ltd filed Critical Qingdao Haier Washing Machine Co Ltd
Priority to CN202010051407.2A priority Critical patent/CN113136721A/en
Publication of CN113136721A publication Critical patent/CN113136721A/en
Pending legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F89/00—Apparatus for folding textile articles with or without stapling
    • D06F89/02—Apparatus for folding textile articles with or without stapling of textile articles to be worn, e.g. shirts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0229—Clothes, clothes hangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0225—Orientation of the article

Abstract

The invention discloses an automatic deviation rectifying method for a clothes folding machine, which comprises the following steps: s1, acquiring images in the process that the clothes are conveyed to the clothes hanger separating unit by the clothes hanger conveying unit; s2, obtaining a reference line of the clothing reference line and a reference object according to the collected image, and obtaining a relative position offset delta f by comparing the clothing reference line with the reference line; and S3, rectifying deviation of the clothes according to the relative position deviation delta f. According to the automatic clothes correcting device, the images of the clothes and the reference object can be acquired through image acquisition, the images are analyzed and processed to obtain the relative position deviation between the clothes and the reference object, and then the clamping mechanism is controlled to compensate and adjust the clothes based on the acquired position deviation, so that the automatic correction is completed.

Description

Automatic deviation rectifying method of clothes folding machine
Technical Field
The invention belongs to the technical field of clothes folding equipment, and particularly relates to an automatic deviation rectifying method of a clothes folding machine and the clothes folding machine.
Background
In daily household life, aired clothes or manufactured clothes need to be folded and stored, people fold clothes in life generally through manual folding, as the pace of society development and life is accelerated, the time for doing housework is reduced, increasingly heavy work and the inequality of pursuit of life quality become the biggest contradictions of modern consumers in life, so the clothes folding machine comes out, and although the clothes folding work is very simple logic in human view, the machine needs to complete the work quickly and well, and the mutual cooperation of a plurality of programs is needed. Any minor error and unpredictable variable of the loop can cause problems in the product, for example, if the position of the clothes and the folding platform is deviated before the clothes folding procedure is started, the clothes folded by the clothes folding machine are untidy, and the clothes may need to be manually reprocessed, so that the clothes folding efficiency is complicated, and the clothes folding is not quick, and the principle of convenience for users is violated.
For the above situation, if the deviation of the hung clothes is not corrected, the final clothes folding effect is affected. However, in the prior art, no method for correcting the deviation of the clothes before the clothes folding starts exists.
Therefore, it is necessary to provide a method for hanging clothes right before the clothes folding starts so as to make the folded clothes tidy, and avoid affecting the user experience.
The present invention has been made in view of this situation.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide an automatic deviation rectifying method for a clothes folding machine, so as to solve the technical problem.
In order to solve the technical problems, the invention adopts the technical scheme that:
an automatic deviation rectifying method for a clothes folding machine comprises
S1, acquiring images in the process that the clothes are conveyed to the clothes hanger separating unit by the clothes hanger conveying unit;
s2, obtaining a reference line of the clothing reference line and a reference object according to the collected image, and obtaining a relative position offset delta f by comparing the clothing reference line with the reference line;
and S3, rectifying deviation of the clothes according to the relative position deviation delta f.
Further, in step S2, the method for determining the reference line of the reference object includes: calculating a central line C of the reference object in the horizontal direction according to the positions of the left edge and the right edge of the reference object in the horizontal direction, and taking the central line C as a reference line;
preferably, the projection of the reference object on the folding platform of the clothes folding machine is located at the middle position of the width direction of the folding platform.
Further, in step S2, the method for determining the position of the reference line of the laundry includes: detecting the area where the clothes are located, determining the position A of the left edge of the clothes in the horizontal direction, determining the position A 'of the right edge of the clothes in the horizontal direction, and taking A and A' as reference line positions.
Further, in step S2, calculating the relative position deviation Δ f between the reference line position of the clothing reference line and the reference line of the reference object includes: calculating the horizontal distance Delta H between the position A of the left edge of the clothes in the horizontal direction and the reference line of the reference object1Calculating a horizontal distance Δ H between a position A' of the left edge of the laundry in the horizontal direction and a reference line of the reference object2Where Δ f ═ Δ H1—ΔH2Or Δ f ═ Δ H2—ΔH1。
Further, in step S2, the method for determining the position of the clothing reference line further includes: and determining the central position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, and taking the central position B as the reference line position.
Further, in step S2, calculating the relative position deviation Δ f between the reference line position of the clothing reference line and the reference line of the reference object includes: the Δ f is a horizontal distance between the center position B of the laundry in the horizontal direction and a reference line of the reference object, i.e., Δ f-B-C or Δ f-C-B.
Further, in step S3, the correcting the laundry according to the relative position offset Δ f specifically includes: the control unit of the clothes folding machine controls the motion track of the clothes clamping unit to correct the clothes according to the acquired relative position offset delta f;
preferably, the clothes clamping unit comprises a moving mechanism and a clamping mechanism, the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to correct the deviation of the clothes;
preferably, the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to correct the deviation of the clothes.
Further, the relative position offset Δ f has a predetermined interval (S)1，S2) When Δ f is within a predetermined interval (S)1，S2) When the clothes are in the range, the clothes are not corrected.
Further, when Δ f is smaller than S1And when the clothes are clamped, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the left edge of the clothes or away from the right edge of the clothes.
Further, when Δ f is greater than S2When the clothes hanger is used, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the right edge of the clothes or far away from the left edge of the clothes
After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects: according to the invention, through image acquisition, the state images of the clothes and the reference object can be acquired, the relative position deviation between the clothes and the reference object can be obtained through analyzing and processing the images, and then the clothes are compensated and adjusted by controlling the clamping mechanism based on the acquired position deviation, so that the deviation rectification is completed.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic flow chart of an automatic deviation rectifying method of a clothes folding machine according to the present invention;
FIG. 2 is a front view of the garment stacker of the present invention;
figure 3 is a side view of the clothes folding machine of the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The clothes folding machine in the prior art comprises a clothes hanger conveying unit, a folding unit and a storage unit. The clothes treatment process of the clothes folding machine is as follows: the user hangs the clothing on clothes hanger after hanging clothes on the clothes hanger at clothes hanger conveying unit, clothes hanger conveying unit carries clothes hanger and clothing to clothes hanger isolating unit, clothes hanger isolating unit carries out the centre gripping to clothes hanger, simultaneously control clothing centre gripping unit centre gripping clothing, clothes hanger folds up the back, clothing and clothes hanger separation, the clothing is carried to folding unit of folding the clothing machine inside, folding unit is provided with folding platform, folding platform has the horizontally surface and is used for placing the clothing, and turn over a realization many times through folding platform and fold the clothing of tiling, get into after folding the completion and accomodate the unit.
However, if the clothes are transported to the folding platform, the clothes deviate from the folding platform, or some parts of the clothes are not on the folding platform, and the clothes are folded at this time, the folded clothes are definitely irregular or need to be manually reprocessed, so that the clothes folding efficiency is complicated, and the original intention of the user is violated.
Therefore, the invention provides an automatic deviation rectifying method of a clothes folding machine, which can automatically correct random errors caused by hanging of clothes by a user or shaking of a conveying device in the process of conveying the clothes and other factors, complete automatic deviation rectification of the clothes, improve the clothes folding effect of the clothes folding machine and further improve user experience.
The following is a detailed description of the scheme of the present invention by means of specific examples;
as shown in fig. 1, the method includes the following steps:
s1, acquiring images in the process that the clothes are conveyed to the clothes hanger separating unit by the clothes hanger conveying unit;
hang the clothing on clothes hanger back and hang at clothes hanger conveying unit, clothes hanger conveying unit carries clothes hanger and clothing to clothes hanger separating element, and at this in-process, the start information acquisition unit carries out image acquisition to current clothing, carries out the analysis in order to obtain required information through the image data of gathering.
The information acquisition unit can be installed in the shell of the clothes folding machine, or on the clothes hanger conveying unit, as long as the purpose of the invention can be achieved to acquire the image information of the clothes and the reference object, and the information acquisition unit can be understood by those skilled in the art, and is not described herein again.
The information acquisition unit comprises an image acquisition device, the image acquisition device can shoot the clothes after the clothes reach the information acquisition position, the image acquisition device comprises a camera, the clothes are shot when the clothes are hung, and the information of the clothes needed by the clothes folding machine, such as the size, type, color, material and the like of the clothes, is finally obtained through analyzing the shot image data.
Preferably, the image acquisition device comprises a depth camera, and the depth camera can acquire the size of the clothes. The depth camera can comprise a multi-view camera, and the size of the shot clothes can be obtained through calculation of the collected information.
According to the actual situation, parameters of the camera are set, such as image width, image height, camera shutter, image width offset and image height offset, and the numerical value is subject to the best actual shooting result.
It should be noted that, when the clothes folding machine collects information of clothes through the image collecting device, because the clarity of the image obtained by shooting has a large influence on the recognition result, preferably, a light source can be provided for the camera, and the light source can be arranged right opposite to the camera, so as to improve the shooting effect. Therefore, the process of image acquisition is preferably to acquire when the clothes are static, and the distance between the image acquisition device and the clothes also influences the acquisition quality, so that the image acquisition is performed when the clothes hanger conveying unit conveys the clothes and the clothes to the clothes hanger separating unit, the image acquisition is performed in the static state, not only can better image quality be obtained, but also random errors generated in the conveying process are reduced because the clothes are conveyed to the folding unit as the next step when the clothes hanger and the clothes are conveyed to the clothes hanger separating unit, and the images are acquired and corrected at the moment.
S2, obtaining a reference line of the clothing reference line and a reference object according to the collected image, and obtaining a relative position offset delta f by comparing the clothing reference line with the reference line;
obtaining a clothes reference line and a reference line of a reference object through image information acquired by an image acquisition device, and comparing the reference line of clothes with the reference line to obtain a horizontal distance between the reference lines of the reference object of the reference line foot of the clothes, namely a relative position offset delta f;
and S3, rectifying deviation of the clothes according to the relative position deviation delta f.
The invention also comprises a main control unit, wherein the main control unit controls the clothes clamping unit to move according to the relative position offset delta f, and automatically corrects the deviation of the clothes, so that the clothes are more accurately conveyed to the folding platform and then folded, the folded clothes are tidy, the user requirements are met, and the user satisfaction is improved.
The method for determining the reference line of the reference object will be described in detail below, and in step S2, the method for determining the reference line of the reference object includes: calculating a reference line C of the reference object according to the positions of the left edge and the right edge of the reference object in the horizontal direction; the horizontal direction here refers to a direction perpendicular to the direction of conveyance of the hangers.
Preferably, a projection of the reference line of the reference object on a folding platform of the clothes folding machine is coincident with a center line of the folding platform in the width direction.
Firstly, determining the central line of the width direction of the folding platform, and determining the reference line of the reference object according to the central line of the width direction of the folding platform, wherein the projection of the reference line of the reference object on the folding platform is overlapped with the centrality of the folding platform in the width direction, so that the centrality of the corrected clothes is consistent with the central line of the width direction of the folding platform. The reference line of the reference object in the invention can be set before the clothes hanger is conveyed, so that the horizontal distance between the clothes reference line and the reference line of the reference object can be directly analyzed in the image recognition process, and the final folding effect is ensured.
It should be noted that the width direction of the folding platform mentioned above refers to the direction perpendicular to the conveying direction of the clothes rack.
The invention can detect whether the clothes have position deviation in the moving process in real time by carrying out real-time image acquisition on the clothes, namely the reference object, and when the position deviation occurs, the controller can control the motion track of the clothes clamping unit to carry out real-time deviation correction on the clothes so as to ensure that the clothes keep the correct position, thereby achieving the purpose of automatic deviation correction and improving the clothes folding effect of the clothes folding machine.
The invention also provides two methods for determining the clothing datum line, which specifically comprise the following steps:
the method comprises the following steps:
in step S2, the method of determining the laundry reference line position includes: detecting the area where the clothes are located, determining the position A of the left edge of the clothes in the horizontal direction, determining the position A 'of the right edge of the clothes in the horizontal direction, and taking A and A' as reference line positions.
Then in step S2, calculating the relative position shift amount Δ f from the reference line of the laundry reference line position and the reference object includes: calculating the horizontal distance delta H1 between the position A of the left edge of the clothes in the horizontal direction and the reference line of the reference object, and calculating the horizontal distance delta H between the position A' of the left edge of the clothes in the horizontal direction and the reference line of the reference object2Where Δ f ═ Δ H1—ΔH2Or Δ f ═ Δ H2—ΔH1。
The second method comprises the following steps:
the invention also provides another calculation method of the relative position offset delta f, which specifically comprises the following steps: in step S2, the method of determining the laundry reference line position further includes: and determining the central position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, and taking the central position B as the reference line position.
Further, in step S2, calculating the relative position deviation Δ f between the reference line position of the clothing reference line and the reference line of the reference object includes: the Δ f is a horizontal distance between the center position B of the laundry in the horizontal direction and a reference line of the reference object, i.e., Δ f-B-C or Δ f-C-B.
The invention also provides how to control the clothes clamping unit to correct the deviation of the clothes after obtaining the relative position offset delta f, which comprises the following specific steps: in step S3, the correcting the laundry according to the relative position offset Δ f specifically includes: a control unit of the clothes folding machine generates a control instruction according to the obtained relative position offset delta f, and controls the motion track of the clothes clamping unit to correct the clothes according to the control instruction;
preferably, the clothes clamping unit comprises a moving mechanism and a clamping mechanism, the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to correct the deviation of the clothes;
preferably, the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to correct the deviation of the clothes.
The X-direction moving mechanism can enable the clamping mechanism to move perpendicular to the horizontal direction of the hanging rod, and the Y-direction moving mechanism can enable the clamping mechanism to move perpendicular to the vertical direction of the hanging rod. In order to ensure that the clamping device can move in the X direction and the Y direction simultaneously, the Y-direction moving mechanism is arranged on the X-direction mechanism, so that the Y-direction moving mechanism can drive the X-direction moving mechanism to move integrally.
Further, the relative position offset Δ f has a predetermined interval (S)1，S2) When Δ f is within a predetermined interval (S)1，S2) Within the range, the clothes are not corrected, and the preset interval (S)1，S2) The error range is acceptable, and when the delta f exceeds the preset range, the clothes need to be corrected, which is specifically as follows:
further, when Δ f is smaller than S1And when the clothes are clamped, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the left edge of the clothes or away from the right edge of the clothes.
Further, when Δ f is greater than S2When the clothes hanger is used, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the right edge of the clothes or far away from the left edge of the clothes
In order to increase the safety, the clothes folding machine is further provided with an alarm module, the alarm module can be set as an alarm, the controller can be electrically connected with the alarm, when the controller judges the calculated relative position offset delta f to exceed a preset threshold value, the system carries out fault and safety processing and sends an alarm instruction to the alarm, and the alarm gives an alarm after receiving the alarm instruction so as to remind a user of the fault in the operation of the current clothes folding machine.
Example 3
Another object of the present invention is to provide a clothes folding machine using any one of the above-described automatic deviation rectifying methods, as shown in fig. 2 to 3. This pile of clothing machine includes:
a hanger transport unit 1 for transporting the clothes/hangers 11;
the clothes hanger separating unit 2 is used for clamping the clothes hangers conveyed in place;
the information acquisition unit is used for acquiring images of the clothes and the reference object;
and the clothes clamping unit 3 is used for clamping or moving the clothes so as to correct the deviation of the clothes.
The folding unit 4 is provided with a folding platform, the folding platform is provided with a horizontal surface for placing clothes, the flatly laid clothes are folded by turning over a folding plate of the folding platform for multiple times, and the clothes enter the storage unit for storage after being folded;
the main control unit is electrically connected with the clothes conveying unit 1, the clothes hanger separating unit 2, the information acquiring unit 3 and the clothes clamping unit 4 respectively, and can control the clothes clamping unit to correct the deviation of the clothes according to the relative position offset delta f between the clothes reference line and the reference line acquired by the information acquiring unit.
A user hangs clothes on a clothes hanger and then hangs the clothes on a clothes hanger conveying unit, the clothes hanger conveying unit conveys the clothes hanger and the clothes to a clothes hanger separating unit, the clothes hanger separating unit clamps the clothes hanger, the information acquisition unit can be started to shoot the clothes and the reference line at the moment, the main control unit controls the clothes clamping unit to correct the deviation of the clothes according to the relative position offset delta f between the reference line of the clothes and the reference line acquired by the information acquisition unit, the clothes hanger is controlled to fold after the deviation is corrected, the clothes are separated from the clothes hanger, the clothes are conveyed to a folding unit in the clothes folding machine, the folding unit is provided with a folding platform, the folding platform is provided with a horizontal surface for placing the clothes, the folded flat clothes are folded by folding a folding plate of the folding platform for multiple times, and the folded clothes, namely the reference object, enter a storage unit for storage after the folding is finished, the invention carries out real-time image acquisition on the clothes, whether the position deviation occurs in the moving process of the clothes can be detected in real time, when the position deviation occurs, the controller can control the motion track of the clothes clamping unit to correct the position of the clothes in real time, so that the clothes can keep the correct position, the purpose of automatic correction can be achieved, and the clothes folding effect of the clothes folding machine is improved.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An automatic deviation rectifying method of a clothes folding machine is characterized in that: comprises that
S1, acquiring images in the process that the clothes are conveyed to the clothes hanger separating unit by the clothes hanger conveying unit;
s2, obtaining a reference line of the clothing reference line and a reference object according to the collected image, and obtaining a relative position offset delta f by comparing the clothing reference line with the reference line;
and S3, rectifying deviation of the clothes according to the relative position deviation delta f.
2. The automatic deviation rectifying method of a clothes folding machine according to claim 1, characterized in that: in step S2, the method of determining a reference line of a reference object includes: calculating a reference line of the reference object according to the positions of the left edge and the right edge of the reference object in the horizontal direction;
preferably, a projection of the reference line of the reference object on a folding platform of the clothes folding machine is coincident with a center line of the folding platform in the width direction.
3. The automatic deviation rectifying method of a clothes folding machine according to claim 1 or 2, characterized in that: in step S2, the method of determining the laundry reference line position includes: detecting the area where the clothes are located, determining the position A of the left edge of the clothes in the horizontal direction, determining the position A 'of the right edge of the clothes in the horizontal direction, and taking A and A' as reference line positions.
4. Root of herbaceous plantThe automatic deviation rectifying method of a clothes folding machine according to any one of claims 1 to 3, characterized in that: in step S2, calculating the relative positional shift amount Δ f from the reference line of the reference object to the laundry reference line position includes: calculating the horizontal distance Delta H between the position A of the left edge of the clothes in the horizontal direction and the reference line of the reference object1Calculating a horizontal distance Δ H between a position A' of the left edge of the laundry in the horizontal direction and a reference line of the reference object2Where Δ f ═ Δ H1—ΔH2Or Δ f ═ Δ H2—ΔH1。
5. The automatic deviation rectifying method of a clothes folding machine according to claim 3, characterized in that: in step S2, the method of determining the laundry reference line position further includes: and determining the central position B of the clothes in the horizontal direction according to the position A of the left edge of the clothes in the horizontal direction and the position A' of the right edge of the clothes in the horizontal direction, and taking the central position B as the reference line position.
6. The automatic deviation rectifying method of a clothes folding machine according to claim 5, characterized in that: in step S2, calculating the relative positional shift amount Δ f from the reference line of the reference object to the laundry reference line position includes: the Δ f is a horizontal distance between the center position B of the laundry in the horizontal direction and a reference line of the reference object, i.e., Δ f-B-C or Δ f-C-B.
7. The automatic deviation rectifying method of a clothes folding machine according to any one of claims 1 to 6, characterized in that: in step S3, the correcting the laundry according to the relative position offset Δ f specifically includes: the control unit of the clothes folding machine controls the motion track of the clothes clamping unit to correct the clothes according to the acquired relative position offset delta f;
preferably, the clothes clamping unit comprises a moving mechanism and a clamping mechanism, the clamping mechanism is arranged on the moving mechanism, and the moving mechanism can drive the clamping mechanism to move so as to correct the deviation of the clothes;
preferably, the moving mechanism at least comprises an X-direction moving mechanism, and the X-direction moving mechanism drives the clamping mechanism to move in the horizontal direction so as to correct the deviation of the clothes.
8. The automatic deviation rectifying method of a clothes folding machine according to claim 7, characterized in that: the relative position offset Δ f has a predetermined interval (S)1，S2) When Δ f is within a predetermined interval (S)1，S2) When the clothes are in the range, the clothes are not corrected.
9. The automatic deviation rectifying method of a clothes folding machine according to claim 8, characterized in that: when Δ f is less than S1And when the clothes are clamped, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the left edge of the clothes or away from the right edge of the clothes.
10. The automatic deviation rectifying method of a clothes folding machine according to claim 9, characterized in that: when Δ f is greater than S2And when the clothes are clamped, the control unit controls the clamping mechanism to clamp the clothes and controls the moving mechanism to drive the clamping mechanism to move towards the direction close to the right edge of the clothes or away from the left edge of the clothes.
CN202010051407.2A 2020-01-17 2020-01-17 Automatic deviation rectifying method of clothes folding machine Pending CN113136721A (en)

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